JPS63225022A - Conveyance delivery device for parts - Google Patents

Abstract

PURPOSE:To reduce the time for setting a part, by moving an endless running member, which mounts pawl units in a predetermined space, to run between a stock position and a delivery position while providing a chucking unit being able to be mounted to and removed from the pawl unit and a robot, in the case of a parts conveyance delivery device between the stock position and the robot. CONSTITUTION:A chucking unit 50 is selected in accordance with a kind of parts, and the chucking unit 50, which is mounted to an endless running member 103, engaging with its pawl unit 107, is moved together with the endless running member 103. And the chucking unit 50, after it is removed clamping a part 2 in a stock position 1, is again mounted engaging with the pawl unit 107. Here the part 2 moves with the endless running member 103 to a delivery position. And the chucking unit 50, which clamps the part 2, is relocated to a robot 200 by a relocating mechanism 213. By this constitution, the time for setting the part can be reduced by enabling the different part to be continuously conveyed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an apparatus for transporting and delivering parts from a stock position to a robot or the like.

(Prior art) For assembling vehicle body panels, etc., and assembling brackets, etc. to the body, Japanese Patent Laid-Open No. 59-2378 is used as a device for transporting and setting parts.
The one disclosed in No. 1 is known.

This device has a gate-shaped frame installed in the direction perpendicular to the vehicle body conveyance line, and below this circular frame, different parts are stocked by type, and a traveling platform is movable on the gate-shaped frame. Attachment: Depending on the vehicle type, the traveling platform is driven above the predetermined stock position, and the specified parts are hung together with the gripping means from the loader hanger provided on the traveling platform. transported to
Assembled parts are set on the body.

(Problems to be Solved by the Invention) According to the conventional device described above, it is possible to automatically set a plurality of parts, but since there is only one gate-shaped frame, there is also one or two traveling platforms. Only a stand can be attached to the frame, and it takes a long time to set up the many parts.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides an endless traveling body between a parts stock position and a delivery position to a robot etc., and a predetermined position on this endless traveling body. Claws are provided at intervals, and a chucking unit for gripping parts is detachably attached to the claws.

(Function) A chucking unit is selected according to the type of part, and this chuffing unit is engaged with the claw body of the endless running body.
At the part stock position, remove the chucking unit from the claw body, and after gripping the part with the two chucking units, attach the chucking unit with the part gripped to the claw body of the endless traveling body again, and then endless traveling. By moving the body, the parts are transported along with the chucking unit to the delivery position and delivered to a robot, etc.

(Example) Embodiments of the present invention will be described below based on the accompanying drawings.

Fig. 1 is a front view of a welding line to which a transfer device according to the present invention is applied, and Fig. 2 is a side view of the same line, which schematically shows parts such as brackets in the stock position (1). (2) The transportation cost related to the present invention is the transfer device (100
) is used to transport the part (2) to the position of the robot (2 (10)), and the robot (200) is used to place the part (2) on the body (3) to be assembled, such as a floor panel of a vehicle. In step 4), the part (2) is assembled by welding to the body (3).

At the stock position (1), pallets (8) on which parts (2) are placed are stacked vertically on a cart (5) that can be taken in and out in the direction of arrow (a) in Fig. 2. The pallet (6) is transferred one step at a time to the lifting plate (8) that moves up and down along the rail (7) provided at the stock position (1), and the parts are removed from this pallet (8) by the chucking unit (50). (2) The conveyance cost is handled by the handing device (100
).

As shown in Figure 3, which is an enlarged view of the A-A line in Figure 1, the transfer device (100) is attached to a guide rail (1 (
12), an endless running body (103) such as a chain is engaged with this guide rail (102) via a roller (104), and a sprocket (1) is driven by a motor (105).
0111), the endless traveling body (103) circulates between the stock position (1) and the robot (200). Further, a claw body (107) is attached to the endless running body (IO2) at a predetermined distance, and the chucking unit (50) is detachably attached to this claw body (107).

chucking unit) (50) is a chucking unit for attaching and detaching the part (2) as shown in Figure 4, which is an enlarged view of the main part of Figure 3, and Figure 5, which is a view taken in the direction of arrow B in Figure 4. 1 toggle clamp mechanism (T1) and chucking unit) (50)
It is provided with a second toggle clamp mechanism (T2) for attaching to and detaching from the claw body (107) by itself.

The first toggle clamp mechanism (T1) is a sleeve (
52) Insert the rod (54) urged upward by the spring (53) into the spring (see Fig. 5), and
The upper end of the rod (54) is brought into contact with the camshaft etc. by the elastic force of the rod (53).

In addition, the proximal ends of a pair of link bars (5B) and (5B) are pivotally attached to the bifurcated portion of the lower end of the rod (50) via a pin (55), and the tips of these link bars (5θ) are attached to the shaft (5θ).
At 7), a hand (5B) is rotatably attached to the lower part of the case (51), and is connected to the upper end of the hand (5B) via a pin (58). Further, a reference bottle (BO) projecting downward is attached to the lower surface of the case (51).

In order to grip the part (2) with the hands (58) and (5s), the rod (54) is moved downward against the spring (53) by a cam or the like. Then, due to this downward movement, the bottle (55) also moves downward, and the pair of link bars (5B)'
.

(5B) is bent downwards around the bottle (55) as shown in Figure 4, the upper ends of hands (58) and (58) are pulled inward, and hands (58) and (5B) are imagined. It is in an open state as shown by the line. When the reference pin (80) is inserted into the reference hole of the component (2) in this state, the cam etc. is rotated in the opposite direction to the above, and the rod (54) is moved by the elastic force of the spring (53). Raise it and add a pair of link bars (5
Return B) to horizontal position, hand (5B), (58)
Close and grasp part (2).

In addition, the chucking unit l-(50) itself is attached to the claw body (10
7), the second toggle clamp mechanism (T2
) has shafts (81) and (81) on the inner surface of the case (51).
The clamp claws (f32) and (B2) are swingably attached through the clamp claws (82) and (82), and one end of the link bar (63) and (e+) is attached to the lower end of the clamp claws (82) and (82).
4), (84), and connect these link bars (84).
3) Connect the other ends of (E13) with a bottle (65), and connect the bottle (65) with the bottle (+(8)) provided at the bottom of the case (51) (see Figure 5). Tension spring (
67) is installed.

Further, the tip of a lever (69) whose base end is swingably supported on the inner surface of the case (51) via a shaft (68) is in contact with the lower surface of the bottle (65). Then, the bottle (
85) is pulled downward by the tensile force of the spring (B7), so the link bar (83), ([13)
As shown in the figure, it is horizontal and the clamp claw (f12)
.

(62) is biased in a direction to swing inward around the shafts (81), (81), and the clamp claws (62)-, (E1
2), the entire chucking unit (50) is suspended and supported by the claw body (107). Further, a reference hole (70) is formed in the upper outer peripheral surface of the case (51) of the chucking unit (50), and gripping recesses (71), (71) are formed in the upper and lower surfaces of the upper part of the case (51). It is formed.

On the other hand, as shown in FIG. 2, a subframe (110) that is movable in the direction perpendicular to the paper surface of FIG. 3 is engaged with the frame (101) via a rail (111). 110) is provided with a rail (112) in the front-rear direction (left-right direction in FIG. 3), and this rail (112)
2) is engaged with a running body (113) so as to be movable in the front-rear direction, and this running body (113) has a rail (114) as shown in FIG. An elevating body (115) that moves in the vertical direction is attached to the elevating body (115), and a claw body (1N type) similar to the above is attached to the lower end of this elevating body (115).In other words, the traveling body (113) is A rotating pinion (117) is provided, and the elevating body (115
) has a rack (11) that meshes with this pinion (117).
8) is provided, and the elevating body (115) moves up and down when the pinion (117) rotates.

Further, on the lower surface of the frame (101), a sub-frame (
An arm (119) extending parallel to the arm (110) is fixed, and a transfer jig (300) for the Char2 King Units (50) is attached to the rail (120) provided on this arm (119).
are movably engaged.

As shown in FIGS. 7 and 8, this transfer jig (300) is moved forward and backward by clamp claws (302), (302), which are opened and closed by a cylinder unit (301), and a cylinder unit (303). It is equipped with a moving bin (300) and a reference bin (305) for positioning, and the chucking unit/
The grip (50) is transferred from a predetermined claw body to another claw body.

A specific example will be explained based on FIGS. 3, 7, and 8.

In Figure 3, the transportation cost is the claw body (1G?) of the passing device (100).
A chucking unit) (50) is suspended and supported, and this chucking unit) (50) has not yet gripped the part (2), so a pallet ( 8) To grip the upper part (2), make the cylinder unit (301) project and chuck the jig (300) with the clamp claws (302) and (302) open. Units)
(50), engage the reference bottle (305) with the reference hole (70) of the case (51), and perform positioning.
Next, make a small movement in the cylinder unit (301), engage the tips of the clamp claws (302) and (3G2) in the recesses (71) and (71) of the case (51), and tighten them with the jig (300). Chucking Units) (50) as the third
Grip as shown.

Next, the cylinder unit of the jig (30G) (303)
The lever (89) of the chucking unit (50) and the lever (89) are moved to the shaft (68
) to swing upwards. Then, as shown in Fig. 7, the bottle (85) moves upward against the tensile force of the spring (67), and the link bars (1113) and (83) bend upward with the bottle (B5) as the center. , this link bar (113).

By the operation of (83), the clamp claws (82), (82)
swings in the opening direction, and the clamp claws (82) and (132)
The locking state between the and the claw body (107) is released, and the chucking unit (50) is transferred to the jig (300).

When the jig (300) receives the empty chucking unit (50) in this way, the jig (30G) is moved along the rail (120) as shown in FIG.
chucking unit) (50) to the elevating body (115)
) is located directly below the claw body (11B) provided at the lower end of the holder. After that, the claw body (11
The chucking unit (50) is delivered to B).

After this, the pinion (117) is rotated by the motor, the elevating body (115) is lowered, and the chucking unit (115) is lowered.
(50) is lowered to part (2) on pallet (6),
The first toggle clamp mechanism (TI) described above is activated to grip the component (2) with the chucking unit (50).

Next, the motor rotates the pinion (117) again to raise the elevating body (115), and then the jig (30
The chucking unit that gripped the part (2) at 0))
(50) from the claw body (11B), and
) is advanced in the direction of the claw body (10?) attached to the endless running body (103), and the chucking unit (50) is attached to the claw body (107) by the reverse operation to the above. After this, the chucking unit that gripped part (2)) (5
0) is the endless running body (10) of the conveyance/delivery device (100).
3), the robot moves together with the claw body (107) (
200).

Further, as shown in FIG. 3, a conveyance and delivery device (100)
A chucking unit exchange device (400) is disposed at a position facing the transfer jig (300) with the chucking unit exchange device (400) in between. This exchange device (400) is an endless running body (103)
An endless running body (401) running parallel to the moving body (401) and a transfer jig (402) provided on the side of this endless running body (4Q1).
), and a plurality of claw bodies (403) are attached to the endless running body (401) at predetermined intervals.
03), chucking units corresponding to various parts are suspended and supported. Further, the transfer jig (402) moves forward and backward along the rail (400) and has the same structure as the transfer jig (300).

In the above, in order to replace the chucking unit (50), as shown in FIG. It is received by the changing jig (402) and the claw body (403) is empty.
107) chucking unit suspended and supported)
(50) is received by the transfer jig (300), the transfer jig (30G) is moved to the right in FIG. ) (50) is supported by the empty claw body (403). Then, the transfer jig (300) is moved backward, and the transfer jig (402) holding the new chucking unit (50) is moved to the left in FIG. Attach (50) to the claw body (10?). The above-described operation is then used to grip the component (2) with this new chucking unit (50).

Part (2) that was in the stock position (1) as described above
The structure of the zero-order robot (200) that is conveyed together with the chucking unit (50) to the position of the robot (200) by the transfer device will be explained.

Figure 9 is a front view of the upper part of Robot (200), Figure 10
The figure is a view taken in the direction of arrow D in Fig. 9, and Fig. 10 is a view taken from E-E in Fig. 9.
Line direction arrow view, FIG. 11 is a F direction arrow view of FIG. 202) is rotatably provided around the support column (201).

A vertical rail (203) is provided on the column (202), and a support body (204) is engaged with this rail (2θ3) so as to be able to move up and down. A horizontal rail (205) is provided on the support (204), a normal arm (20B) is engaged with this rail (205), and the arm (20B) is attached to a rack (20?) provided on the support (2G4) side. By engaging the pinion (208) provided on the arm (20B) and rotating the pinion (208), the arm (20B) moves in the left-right direction in FIG.
In the figure, it moves forward and backward in the direction perpendicular to the paper surface.

A guide rail (209) is attached to the arm (20El) via a bracket, and an endless running body (210) such as a chain is attached to the guide rail (209) using a roller (211).
A plurality of claw bodies (212) are attached to the endless running body (210) at predetermined intervals. Here, the endless traveling body (210) circulates on a trajectory that is approximately cross-shaped when viewed from the front, and the claw body (212) is connected to the claw body (107).
) and (11EI) have the same shape.

Further, above the column (202), a chucking unit (50) that grips the part (2) conveyed by the conveyance/delivery device (100) is connected to the claw body (212) of the robot (200). A transfer mechanism (213) is provided for transfer to. This transfer mechanism (2
13) is a cylindrical pinion (214) attached to the support (201).
A pedestal (215) is fixed to this cylindrical binion (214), a horizontal rail (21B) is provided to this pedestal (215), and a movable plate is attached to this rail (21B). (21?) is engaged, and a transfer jig (218) having the same structure as the transfer jig (300) and (402) is mounted on this moving plate (21?).

At the upper end of the support column (201), an upper plate (2
19), and a lower plate (220) is fixed to the upper end of the column (202). A rail (221) is provided on the upper plate (219), a pair of presser members (222) and (223) are movably engaged with the rail (221), and a cylinder unit is attached to one presser member (222). The cylinder (220) is fixed to the other holding member (223), and the rod (225) of the cylinder unit is fixed to the other holding member (223).
A rack (22B) that meshes with the cylindrical pinion (214) is loosely fitted into the cylinder (220).A rail (227) is provided on the lower plate (220), and a pair of rails (227) are provided on the lower plate (220). Pressing member (228), (
229) movably engaged, and one presser member (22B
) is fixed to the cylinder (230) of the cylinder unit, the other holding member (229) is fixed to the rod (231) of the cylinder unit, and the cylinder (230) is engaged with the cylindrical pinion (214). A rack (233) is loosely fitted and held.

In order to transfer the chucking unit (50) holding the component (2) to the robot (200) using the transfer mechanism (213) having the above-described configuration, the following procedure is performed.

The chucking unit held by the claw body (107) of the endless traveling body (103) of the conveyance/delivery device (100)
(5G) to the transfer mechanism (213) transfer jig (
In order to grip the rack (228) with the upper plate (219) as shown in Fig. 13, the cylinder unit provided on the upper plate (219) is actuated and the pair of holding members (222) and (223) are used to hold the rack (228) from both sides. When the presser members (222) and (223) are held via the rails (221), the upper plate (219) is
01), the pinion (210) rotates so that the pinion (214) meshes with the center position of the rack (2:1ll), and in this state, the pinion (215) that is fixed to the pinion (210) ) is an endless running body running body (10
The transfer jig (218), which is parallel to 3) and attached to the pedestal (215), is chucking (22) (50)
The robot will wait in a position where it can be grasped. Thereafter, by the same operation as the rail, the claw body (
107), the chucking unit (50) holding the part (2) is received by the transfer jig (218).

On the other hand, the set position of the component (2) on the body (3) to be assembled differs for each component. For this reason, Lopop) (20
0), the column (209) rotates around the support (201) to change the position of the wrist provided at the tip of the arm (2Of1). And in this case the column (
In order to enable the rotation of 20B), the lower play) (22
The cylinder unit installed in the rack (233) is not operated, and the pair of presser members (228) and (229) are left free.
) rotates around the pinion (214). In this state, the rail (21B) of the pedestal (215) is parallel to the endless traveling body (103) of the transfer device (100), and the endless traveling body (210) of the robot (200)
Since it is not parallel to the transfer jig (218)
The chucking unit (50) held by the chucking unit cannot be directly transferred to the claw body (212) of the endless running body (210).

Therefore, while releasing the operation of the cylinder unit installed on the upper plate (219), the lower plate (220)
Activate the cylinder unit installed in the cylinder. Then, as shown in FIG. 15, the pair of presser members (228) and (2
29) to press down the rack (233) from both sides.

Then, the rack (233) moves to the center of the lower plate (220), and the pinion (233) moves accordingly.
14) also rotates. As the pinion (214) rotates, the pedestal (215) also rotates, and the rail (21111) of the pedestal (215) and the endless traveling body (210) of the robot (200) are parallel to each other. Therefore, as shown in Fig. 16, the transfer jig (2
18), and move the claw body (212) of the endless running body (210).
) is holding the part (2) in the chucking unit (
50). In this way, the chuck (50) held by the claw body (212) is conveyed by the endless traveling body (210) as shown in FIG. Transfer mechanism (240
) is transferred to the special machine part (270), and this special machine part (270) swings downward in FIG. The chucking unit (50) transferred to this wrist part (250) is installed at the tip of the arm (20B) after setting the part (2) on the body (3). transferred mechanism (241
) makes the robot (200) endless running body (210)
is delivered to the claw body (212). and the nail body (212
) The empty chucking unit (50) is transferred to the transfer mechanism (50) provided at the bottom of the robot (2oo).
213) and is returned to the claw body (107) of the endless traveling body (103) of the conveyance/delivery device (ioo). In addition, each transfer mechanism described above (
240) and (241) are provided with transfer jigs (242) and (243) having the same structure as the transfer jigs (218), (300), and (402), as shown in FIG. .

Next, the structure of the wrist portion (250) of the robot (200) will be explained based on FIGS. 9 to 12.

A first rotary cylinder (252) rotated by a motor (251) is provided in the cylindrical arm (20B), and a first rotary cylinder (252) rotated by a motor (253) is provided in the first rotary cylinder (252). A second rotating barrel (254) is provided, and a rotating shaft (25B) rotated by a motor (255) is provided in the second rotating barrel (250), and the rotating barrel (252) shown in FIG. A first rotary cylinder (252
) and a third rotating cylinder (257) whose axis is perpendicular to that in plan view.
are rotatably fitted together, and the second rotary cylinder (254)
The bevel gear (258) fitted on the tip of the third rotary cylinder (2
57) and the bevel gear (259) fitted on the rotating shaft (258).
A bevel gear (2132) fixed to one end of a shaft (281) provided in a rotating cylinder (257) is meshed with the bevel gear (2132). shaft(
A bevel gear (2f13) rotating in the third rotating cylinder (25?) is fixed to the other end of the bevel gear (2[13?)
) is meshed with the bevel gear (2B4) shown in FIG. A piston rod (2B?) that is operated by hydraulic pressure or the like is disposed inside the cylindrical body (21115), and this piston rod (2B?) allows the first chucking unit (50) to be Operate the toggle clamp mechanism to open the hands (58) and (58) of the chucking unit (50), and place the part (2) on the body (3) to be assembled. There is.

Then, the chucking unit (50) held by the jig (242) of the transfer mechanism (240) is received by the special machine part (270) that swings in the vertical direction, and the special machine part (270) By swinging downward, the chucking unit (50) is transferred to the claw body (2B8).

By the way, when the first rotary cylinder (252) is rotated, the chucking unit (50) engaged with the claw body (28B)
) swings in the direction (α) in the figure around the first rotating barrel (252), and when the second rotating barrel (250) is rotated, it rotates through the bevel gears (258) and (259) to the third rotation. Tube (2
57) rotates and the chucking unit) (50) is the third
oscillates in the (β) direction around the rotating cylinder (257),
Also, when the rotating shaft (2513) is rotated, the bevel gear (2E1
0), (2B2), (283), and (284), the cylinder body (2135) rotates through the chucking unit y) (50
) is configured to swing in the (γ) direction around the cylindrical body (285). In this way, chucking (22) (5) at the wrist (250) of the robot (200)
0) is (α).

Since the parts can be independently swung in the (β) and (γ) directions, the parts to be assembled can be placed in accurate positions even if the upper end of the body (3) is inclined.

As described above, from the stock level M (1) to various parts (2)
The robot (20
After all the parts (2) are placed on the body (3) to be assembled by the robot (200), the parts (2) are transferred to the body (3) by the welding machine (4). 3) Weld.

(Effects of the Invention) As explained above, according to the present invention, the endless running body is provided with a claw body, the chucking unit for gripping parts is detachably attached to the claw body, and the endless running body is moved to the stock position of the parts. Since the parts are circulated between the parts and the delivery position to the robot, different parts can be transported successively, and the time required to set parts can be significantly shortened compared to conventional equipment.

[Brief explanation of the drawing]

FIG. 1 is an overall front view of the conveyance and delivery device according to the present invention;
Fig. 2 is a side view of the device, Fig. 3 is an enlarged view taken from the direction of line A-A in Fig. 1, Fig. 4 is an enlarged front view of the chucking unit, and Fig. 5 is B of Fig. 4. 6 is a view taken in the C direction of FIG. 3, FIGS. 7 and 8 are diagrams illustrating the attachment and detachment of the charging unit, and FIG. 9 is an enlarged front view of the top of the robot. Figure 10 is a view from the direction of the arrow in Figure 9;
Fig. 11 is a view taken along the line E-E in Fig. 9, Fig. 12 is a view taken in the direction F of Fig. 9, and Figs. 13 to 16 show the action of the transfer mechanism provided on the robot. FIG. In the drawings, (1) is the stock position, (2) is the part, and (3) is the stock position.
) is the body to be assembled, (50) is the chucking unit, (
100) is a conveyance/delivery device, (103), (210)
are endless running bodies, (107), (118), (212),
(403) is the claw body, (200) is the robot, (218)
, (300) and (402) are transfer jigs. Patent applicant: Agent for Honda Motor Co., Ltd.
Patent Attorney Part 2 1) Part 1 Patent Attorney
Kuni Ohashi, Patent Attorney, Department
Udo Yama Patent Attorney No 1)
Shigeru Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] In a device for transporting and delivering parts stocked at a predetermined position to a robot position, this device has an endless running system arranged between the stock position and the delivery position to circulate between the parts stock position and the delivery position. A parts conveyance/delivery device comprising a body, a claw body attached to the endless traveling body at predetermined intervals, and a chucking unit for grasping parts that is detachably attached to the claw body and the robot.