JPS6234794A - Method of carrying out panel material by robot hand with suction head - 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 [Field of Industrial Application] The present invention relates to a method for picking up and carrying out a panel material that has been positioned and held using a robot hand equipped with a suction head.

[Conventional technology]

2. Description of the Related Art Conventionally, for example, a case will be described in which a window panel as a panel material for an automobile is suctioned and gripped by a suction head of a robot hand attached to a robot, and automatically assembled into a window opening of a vehicle body.

In Figure 5, the window panel W is connected to the robot hand 1-'
In Figure 0, which shows the system for carrying out t-t', the reference numeral 2 is the robot arm of the robot, 3 is the nodle attached to the tip of the robot arm 2 and supports the robot node l, and 4 is the support stand. It is provided with a plurality of pairs of fixed pieces 5 and movable pieces 6 that sandwich the window panel W from both ends thereof, and the depalletized window panel W is positioned and held by the fixed pieces 5 and the movable pieces 6. . Reference numeral 7 is an air cylinder that moves the movable piece 6 forward and backward, 8 is a panel presser that presses the window panel W from above, and 10 is a plurality of suction heads of the robot node l.

And by the robot's teaching motion.

The window panel W on the support stand 4 is sucked and gripped from below by the robot hand l and carried out (in the Z direction in the figure (hereinafter referred to as the "operating direction")), and then brought to the vehicle body and the window panel W is automatically assembled. It is something. Note that this type of device is disclosed in Japanese Patent Laid-Open No. 59-97886.

[Problem that the invention seeks to solve]

By the way, in this conventional unloading method, although the window panel W is positioned on the support base 4 and a predetermined position of the window panel W is sucked and gripped by the teaching operation of the robot, The position of the panel W may be misaligned, and as a result, the assembly position of the window panel W relative to the window opening of the vehicle body may be misaligned, resulting in a problem of poor accuracy.

As shown in Fig. 6, the window panel W has variations in curvature, which are particularly noticeable in the longitudinal direction, so the suction head 1O may not contact the window panel W at the same time, and as a result, the first Due to the reaction force generated on the suction head 10 that comes into contact with the suction head 10, the robot arm 2 and/or handle 3 tilt or move somewhat in the non-operating direction (double-dashed line in Figure 6), causing the suction head lO and The relative positional relationship with the window panel W is out of order,
This is because other suction heads 10 cannot suction the window panel W at a predetermined position.

Therefore, one technical problem of the present invention is to make the relative positional relationship between the suction pad 10 and the window panel W (panel material) accurate.

[Means for solving problems]

The technical means of the present invention for solving this technical problem is to perform suction while restraining the suction head in a non-operating direction.

[Effect]

According to this method, the suction head does not move in the non-operating direction due to the reaction force received from the panel material during suction, and can suction a predetermined position of the panel material and carry it out.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an unloading method according to an embodiment of the present invention will be explained based on an example of an apparatus for implementing this method shown in the accompanying drawings.

FIG. 1 and FIG. 2 show an apparatus for carrying out a window panel W as a panel material, as in the conventional case.

This device includes a robot hand 20 and a support stand 40.

The robot hand 20 is configured so that the window panel W can be attached to the window opening of the vehicle body while being freely movable, and as shown in FIG. Base member 2 consisting of a first frame 22a and a second frame 22b
1, and a suction head 23 attached to a second frame 22b of the movable member 22. Reference numeral 24 denotes a bearing portion that supports the first frame 22a relative to the base member 21 in a rotating portion (in the R direction in the figure).

Reference numerals 25 and 26 denote a number of sliders consisting of a table and a bed, and the second frame 22b is movable in the left and right and up and down directions (X and Y directions in the figure) with respect to the first frame 22a. It supports the following. Code 27.28.
Reference numeral 29 denotes an air cylinder device consisting of a pair of air cylinders, each of which is constantly expanded and contracted by air at a predetermined pressure, and whose base ends are connected to each other. Air cylinder device 27
is installed on the arm 30 extending from the base member 21 and the first frame 22a, and the cylinder mounting 28 is a connector (not shown) that connects one set of sliders 25 and 26.
and the first frame 22a, and the air cylinder device 29 is installed on the second frame 22b and a connector 31 that connects another set of sliders 25, 26. And, this air cylinder equipment 77127.28.29 includes the first frame 22a and the ilR frame 22bt-base member 2.
It is positioned at a predetermined position with respect to 1 and is biased in the R direction for one rotation and in the left and right, up and down (X, Y) directions, respectively. Furthermore, rollers 32 and 33 whose transfer surfaces project outward and are pivotally supported along the Y-axis are attached to both sides of the second frame 22b in the longitudinal direction. As shown in Figure 2, this roller 3
The distance M between the outer transfer planes of 2.33 is set to a predetermined value.

The support stand 40 is made up of a plurality of pairs of fixed pieces 42 and movable pieces 43 attached to support legs 41, as in the conventional case.

The movable piece 43 is set to the advanced position by the air cylinder 45, presses one end of the window panel W, brings the other end into contact with the fixed piece 42, and works together with the fixed piece 42 to sandwich the window panel W. It is used for positioning.

Further, a pair of stopper members 47 and 48 are attached to the support leg 41 facing inward. This stopper member 47
．． 48 has its tip formed in an arcuate shape, and the distance faN between the tops of the arcuate surface is set such that the second frame 22b is restrained by contacting the rollers 32 and 33, respectively, at the suction position of the robot hand 20. It is set to be approximately the same dimension as the distance M between the rollers 32 and 33. Incidentally, the reference numeral 8 is a panel presser.

The robot hand 20 is moved in the Z direction (actuation direction) in the figure by the robot's teaching operation, and is set to attract the window glass W on the support base 40 from below.

Therefore, according to this device, first, the depalletized window panel W is positioned and held on the support stand 40.

Next, the robot hand 20 moves from the bottom of the window panel W in the Z direction in the figure. in this case.

As shown in FIG. 2, the rollers 32, 33 move on the arc surface of the stopper member 47, 48 while being guided by this,
At the suction position of the window panel W, the stopper member 4
7.48, so the second frame 22
The movement of b in the X direction is restricted. At this time, as shown in FIG. 3, if the second frame 22b is
Even if the second frame 22b moves freely relative to the window panel W (double-dashed line in the figure), the second frame 22b is guided and restrained by the stopper members 47.48 via the rollers 32.33, so that it is held at a predetermined position relative to the window panel W. be securely set in position.

In this state, the suction pad 23 operates to suction the window panel W. In this case, there are variations in the curvature of the window panel W, and the suction head 23 that came into contact with it first
Even if a reaction force is generated and the second frame 22b tries to move,
Since the second frame 22b is restrained, the non-operating direction (
The window panel W does not move in the X direction) and the window panel W
can be gripped by suction at a predetermined position.

In addition, in this device, the longitudinal direction of the window panel W (
The rollers 32, 33 and the stopper member 47 only in the X direction)
．． 48 is provided because the second frame 22b is easy to move, especially in the direction where the variation in the curvature of the window panel W becomes noticeable. However, it is not necessarily limited to this, and the second frame 22b may be restrained by providing it also in the layer direction (Y direction).

FIG. 4 shows another apparatus for carrying out the invention. This means that the second frame 5 is attached to the support leg 41 from both sides in the longitudinal direction at the suction position of the robot hand 50.
A pair of air cylinders 52 and 53 are provided to sandwich the air cylinder 1. With this, the second frame 51 is restrained in the non-operating direction (X direction) by the air cylinders 52 and 53 at the suction position, so that it does not move due to the reaction force applied to the suction pad 54, and the window panel W is reliably secured. A predetermined position can be absorbed.

In the above device, the robot hand 20.50 is a floating type, but it is not necessarily limited to this, and may be a non-moving type as in the past. , the suction position of the window panel W relative to the suction head can be made accurate.

〔Effect of the invention〕

As explained above, according to the method for carrying out panel materials using a robot hand equipped with a suction head according to the present invention, the suction head is restrained in the non-operating direction while the panel material is suctioned, so that the suction head and the panel material are separated. The relative positional relationship can be made accurate.

[Brief explanation of drawings]

1 and 2 are a perspective view and a front view showing an example of a device for carrying out a method for carrying out panel materials using a robot hand equipped with a suction head according to the present invention, and FIG. 3 is a schematic diagram showing its operation. FIG. 4 is a front view showing another device for carrying out the method according to the present invention, FIG. 5 is a front view showing an example of a device for carrying out the conventional carrying-out method, and FIG. is an enlarged view of the main part showing the problem. 1.20.50...Robot hand W...Window panel (panel material) 4.40...
Support stand 10.23.54 Suction head 32.33 Roller 47.48 Stopper member 52.53 Air cylinder Z Operating direction Patent applicant Nissan Motor Co., Ltd. Figure 2 Figure 4 Figure 5

Claims (1)

[Claims] A method for transporting a panel material using a robot hand equipped with a suction head that suctions while restraining the suction head in a non-operating direction when a panel material that is positioned and held is suctioned and transported by a suction head provided on the robot hand.