JPS6312944Y2 - - Google Patents

Description

[Detailed explanation of the invention] (Industrial application field) The invention supports panels by suction with suction cups, etc.
The present invention relates to a panel transfer device for transferring the supported panels to a predetermined position, and particularly to a panel transfer device useful in the assembly process of an automobile body.

(Prior art) In the automobile assembly process, when assembling panel members such as fender panels, a welding machine is placed along the conveyance line, and the panel parts taken out from the panel stocker are supplied to the first process station of this line. Welding is now done sequentially.

By the way, when panel parts are used for a one-box car, if they are stocked horizontally (laying flat), the surface rigidity is weak and they are easily deformed, so several dozen panel parts are stocked side by side in a vertical position.

A transfer device is required between this stocker and the first process of the conveyor line, but the depth of the group of panel parts arranged on the stocker is deep, compared to when you go to pick up the panel parts from the first to the last. A transfer device with a long stroke is required. Furthermore, since the panel component is a panel component whose surface shape changes frequently, the suction position accuracy of suction members such as suction cups must be high.

Therefore, it is conceivable to install a cylinder horizontally as a transfer device and transfer the panel parts with the stroke of the cylinder, but this increases the length of the entire device and is not practical due to space considerations.

It is also conceivable to connect a plurality of arms by a shaft and to bend each arm by controlling the drive of each shaft so that the end of the front arm moves linearly, but the control device would be expensive. There is a cost problem (see Utility Model Application Publication No. 53-113579).

(Purpose of the invention) The purpose of the invention is to provide a relatively small and inexpensive panel transfer device that can extremely quickly and accurately transfer even huge panel members to a predetermined position. be.

(Structure of the invention) The panel transfer device of the invention includes a base arm that is swingably supported on a base with a horizontal axis, and a shaft that is attached to the tip of the base arm with a horizontal axis that is parallel to the horizontal axis. a front arm that is supported and has a holding unit at its tip that holds the panels vertically; and a front arm that extends to a side opposite to the side on which the holding unit is attached with respect to the support axis of the front arm. an extended arm section provided therein, a control arm whose one end is pivotally supported by the extended arm section and a guide roller provided at the other end and which controls the distal arm, and a control arm fixedly mounted on the base. A link-like arm mechanism is provided, which includes an auxiliary arm whose one end is supported by a horizontal axis and whose other end is supported by the control arm, and the length of the control arm portion of this link-like arm mechanism is equal to the base arm. On the other hand, the guide roller of the control arm is guided and supported on the base,
A drive unit includes a guide member having a substantially arc-shaped guide groove that moves the holding unit substantially in a straight line when the base arm swings, and a drive unit that swings at least one of the base arm and the control arm back and forth. and a first fulcrum that is located on a straight line that intersects the axis of the horizontal axis of the base arm at right angles and is fixed to the base; A second portion located on a straight line that crosses the axis of the oscillating portion that oscillates around the
a first parallel link extending parallel to the base arm; a third fulcrum located on a line perpendicularly crossing the axis of the swinging section; A fourth member is fixed and located on a straight line that intersects the axis of the support shaft of the holding unit.
A second parallel link extends parallel to the front arm, and rotates the holding unit with respect to the front arm as the holding unit moves linearly. and a link mechanism for maintaining the holding unit at a substantially constant angle with respect to a horizontal plane. In the present invention, panels refer to members that can be held vertically by a holding unit, such as those that are flat, have a curved surface, have a difference, have a bend, or have a three-dimensional shape. It shall include things of various shapes such as objects.

For example, if the entire panel transfer device of the present invention is used in an automobile body assembly process so that it can be transferred between predetermined and easily arranged locations in an assembly workshop, it is possible to transfer panel members from multiple locations in parallel and stacked according to type. Pick up panel parts according to the car model from
Can be transported. Further, according to the present invention, even huge panel members such as those used in a one-box car can be easily transported.

Embodiments of the present invention will be described in detail below with reference to the drawings.

(Embodiment) FIG. 1 is a side view of an embodiment of the panel transfer device of the present invention.

One end of a base arm 4 is swingably supported on a horizontal shaft 3 fixed to the upper surface of the base 1 by a bracket 2, and the horizontal shaft 3 is attached to the tip of the base arm 4.
The distal arm 6 is
The end is pivoted. Further, this arm 6
A holding unit 7 for holding panels such as a fender panel by suction means or the like is attached to the tip of the holding unit 7 by a horizontal shaft 8. An extension arm portion 9 extends from the front arm 6 on the side opposite to the side to which the holding unit 7 is attached with respect to the horizontal axis 5 to which this arm is attached, and an end portion 35 of this extension arm portion 9 extends. One end of the control arm 10 is pivotally supported. A guide roller 11 is provided at the other end of this control arm 10, and this guide roller 11 is connected to the base arm 4.
It is slidably supported in a guide groove 13 of a guide member 12 provided on the base 1 at the rear of the guide member 12 . This guide groove 13 is formed when the base arm 4 makes a swinging movement.
The control arm 10 has a substantially arcuate shape so that the holding unit 7 can move substantially linearly by controlling the front arm 6 via the extended arm portion 9. One end of the auxiliary arm 14 is pivotally supported on the horizontal shaft 3 fixed to the base 1, and the other end of the auxiliary arm 14 is pivotally supported at a predetermined position of the control arm 10, and guides the control arm 10 according to the swinging of the base arm 4. A roller 11 is configured to move along a guide groove 13. Note that the portion of the control arm 10 from the shaft portion 35 connected to the inwardly extending arm portion 9 to the shaft portion 36 connected to the auxiliary arm 14 is defined as a “control arm portion”. The length of the control arm is shorter than the base arm 4, and the base arm 4, the extension arm 9 of the distal arm 6, the control arm 10, and the auxiliary arm constitute a link-like arm mechanism. . A drive unit for swinging the base arm 4 is screwed into a drive motor 15, a ball screw 16 rotated by the motor 15, and the ball screw 16.
It consists of a ball nut 17 that moves up and down as a ball screw 16 rotates. This drive unit is supported by a locking part 18 fixed near the middle of the base arm 4 being pivotally supported by a ball nut 17 and by being pivotally supported by a horizontal shaft 19 fixed to the base 1. has been done. Therefore, as the drive motor 15 is driven, the ball nut 17 moves up and down the ball screw 16, thereby causing the base arm 4 to swing. First fulcrums 20a, 20b located on a straight line crossing the axis of the horizontal axis 3 of the base arm 4 at right angles and fixed to the base 1 and the same axis as the horizontal axis 5 of the distal arm 6 The swinging part 21 that swings around the center is connected to second supporting points 22a and 22b located on a straight line that crosses the axis of the horizontal shaft 5 at right angles, and extends parallel to the base arm 4. first parallel link 23a,
23b, and a third fulcrum 24 of the swinging portion 21 located on a straight line that crosses the axis of the horizontal shaft 5 at right angles.
a, 24b and a fourth fulcrum 25a, 25b fixed to the holding unit 7 and located on a straight line crossing the axis of the fulcrum 8 of the holding unit 7, and extending parallel to the distal arm 6. Second parallel link 26
A and 26b are provided, and this link mechanism allows the holding unit 7 to move in a straight line when the holding unit 7 moves in a straight line.
The holding unit 7 is maintained at a predetermined angle with respect to the horizontal plane.
Various improvements have been made to the holding unit so that it is suitable for holding various types of panels in a vertical orientation. As shown in FIG. 2, a pair of swingable vacuum pad support parts 27a, 27b are provided on both sides of the holding unit 7, and four vacuum pad support parts 28a, 28b, 28c are provided on these vacuum pad support parts 27a, 27b, respectively. ,28
d, 28e, 28f, 28g, and 28h are provided. Further, support arms 30a, 3 are provided on both sides of the lower side of the holding unit 7 to support the lower side of the panels.
0b is extended, and contact pieces 31a and 31b are provided above to regulate the upper position of the panels. The holding unit 6 is provided with two beam sensors 29a and 29b, so that the distance of the holding unit 6 to the panels to be held by the holding unit 6 is optically measured. Furthermore, four contact sensors 3 consisting of micro switches etc. are installed on the top, bottom, left and right of the holding unit 6.
2a, 32b, 32c, and 32d are provided, and the holding unit 6 is in contact with the panels;
Also, the state of contact of the holding unit 6 with the panels is detected.

Hereinafter, the operation of the panel transport apparatus of the present invention configured as described above will be explained.

As shown by the solid line in FIG. 1, when the drive motor 15 starts driving in the panel transport device set with the holding unit 7 retracted, the ball screw 16 rotates, thereby causing the ball nut to rotate. 17 is moved upwardly along the ball screw 16. Since the ball nut 17 is pivotally supported by a locking portion 18 fixed to the base arm 4, the base arm 4 swings to the left in the figure as the ball nut 17 moves. When the base arm 4 swings,
The guide roller 11 of the controller arm 10 is moved upward along the guide groove 11 by the auxiliary arm 14, thereby controlling the front arm 6 and moving the holding unit 7 substantially linearly. The attachment angle of the holding unit 7 to the front arm 6 changes as the base arm 4 and the front arm 6 move.
and second parallel links 26a and 26b, the holding unit 7 is maintained at approximately a predetermined angle with respect to the horizontal plane. Two beam sensors 29a provided on the holding unit 7,
29b detects the proximity of the panels 33 to be held, such as a fender panel, installed vertically at the position A in FIG. 1, the beam sensor 2
The detection signals 9a and 29b are sent to a control circuit (not shown) for the drive motor 15, and the rotational speed of the drive motor 15 is reduced so that the holding unit 7 slowly approaches the panels 33. . At the same time, suction suction is started from the eight vacuum pads 28a, . . . , 28h provided on the holding unit 7. After this, four contact sensors 32a, 32b, 3 provided on the holding unit 7
At least one of the panels 2c and 32d comes into contact with the panels 33, and the approach operation of the holding unit 7 continues for a short period of time (for example, 0.5 seconds) after the panels 33 are detected. On this occasion,
Panels 33 have upper and lower abutment pieces 3, respectively.
1a, 31b and support arms 30a, 30b, and the center part is supported by eight vacuum pads 2.
8a,..., 28h, the four contact sensors 32a, 32b, 32
c, 32d are all in contact with the panels 33, confirming that the panels 33 are securely held. If the panels 33 are not securely held by the vacuum pads 28a, . . . , 28h during the above period, the four contact sensors 32a, 32b, 32
It is detected that either one of c and 32d is in an uncontacted state and is not securely held,
The approach operation and suction suction are stopped, and this is displayed and notified to the operator. When the panels 33 are held vertically and securely, the holding unit 7 is moved again at a relatively high speed.
linearly move the panels 33 held by the holding unit 7 to a predetermined position (position B in FIG. 1),
For example, after moving to a welding position and performing a desired work such as welding, the vacuum pads 28a, . . .
The suction absorption by 28h is stopped and the holding unit 7 is again set to the initial state shown by the solid line in FIG. 1, after which the same operation as described above is generally repeated for other panels.

When the present invention is used in the process of assembling an automobile body, a trolley is provided on the base 1, and it is possible to move between predetermined different positions in the assembly workshop. Panel members depending on the vehicle type can be transferred from multiple locations.

In the above embodiments, suction was used as a means for holding the panels on the holding unit, but various other known methods such as electromagnets and clamping means may also be used. Furthermore, instead of directly swinging the base arm by the drive unit, the control arm may be caused to swing to swing the base arm. Furthermore, the horizontal axis on the base that supports one end of the auxiliary arm does not necessarily have to be the same as the horizontal axis on the base that supports the base arm, and the guide roller can be moved along the guide groove as the base arm swings. It is sufficient if the horizontal shaft is provided at a position to be moved.

(Advantages of the Invention) The panel transfer device of the present invention is provided with a guide member having an arc-shaped guide groove, so that the panel transfer device can be moved smoothly on the base.
Because it effectively utilizes vertical and horizontal space, it can be made relatively compact and inexpensive, and because it can transport panels vertically in a straight line between specified positions, its use in assembly lines increases work efficiency considerably and makes it easy to transport large panel components such as fender panels for one-box cars. Furthermore, if the entire device of this invention can be rotated and moved, the range over which panels can be transported can be further expanded, greatly improving workability, for example, in the automobile assembly process, especially in mixed-flow line production.

[Brief explanation of the drawing]

FIG. 1 is a side view of an embodiment of the panel transfer apparatus of the present invention, and FIG. 2 is a front view of the holding unit shown in FIG. 1. DESCRIPTION OF SYMBOLS 1... Base, 4... Base arm, 6... Front arm, 7... Holding unit, 9... Extension arm part,
10... Control arm, 11... Guide roller, 12... Guide member, 13... Guide groove,
14... Auxiliary arm, 15... Drive motor, 23
a, 23b...first parallel link, 25a, 25
b...Second parallel link, 28a, 28b, 28
c, 28d, 28e, 28f, 28g, 28h...
…Bakyumpatsudo.

Claims (1)

[Claims for Utility Model Registration] A base arm that is swingably supported on a base on a horizontal axis, and a distal end of the base arm that is pivotally supported on a horizontal axis that is parallel to the horizontal axis; a front arm that has a holding unit that holds panels vertically; and an extension arm that extends to the opposite side of the front arm from where the holding unit is attached with respect to the support shaft of the front arm. One end is pivotally supported by this extended arm portion, a guide roller is provided at the other end, a control arm that controls the tip side arm, and one end is supported by a horizontal shaft fixed on the base. and an auxiliary arm whose other end is supported by the control arm, and the length of the control arm portion of this link-like arm mechanism is formed to be shorter than the base arm; A guide member having a substantially arc-shaped guide groove that guides and supports the guide roller of the control arm and causes the holding unit to move substantially linearly when the base arm swings is provided on the base; a first drive unit that reciprocates at least one of the base arm and the control arm; and a second fulcrum located on a straight line that crosses the axis of a swinging part that swings around the same axis of the horizontal axis of the front arm, and a first parallel link extending parallel to the oscillating portion; a third fulcrum located on a line perpendicularly crossing the axis of the swinging portion; A second parallel link is connected to a fourth fulcrum located on a transverse straight line and extends parallel to the front arm, and as the holding unit moves linearly, the holding unit is A transfer device for panels, characterized in that a link mechanism is provided that rotates with respect to the front arm and maintains the holding unit at a substantially constant angle with respect to a horizontal plane.