KR101734921B1 - Loading machine for valve - Google Patents

Abstract

The present invention relates to an asymmetric workpiece loading apparatus for loading an asymmetric workpiece having a second body portion formed in a lateral direction of a first body portion having a predetermined length into a processing machine, such as a 3-way valve, The asymmetrical workpiece loading operation can be completely automated to improve the productivity by allowing the second body portion to be loaded in a specific direction at the time of insertion so that the asymmetric workpiece To a loading device.
In particular, regardless of the direction of the asymmetric workpiece that is seated on the transfer unit, that is, the second body portion is turned in the same specific direction before the asymmetric workpiece is inserted, the asymmetric workpiece Therefore, it is possible to automate the process of manually inputting asymmetrical workpieces, which has conventionally been performed by a worker in a harsh environment, so that it is possible to expect the effects of wasting labor, preventing worker fatigue accumulation, reducing labor costs, and improving productivity.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an asymmetric work loading apparatus,

The present invention relates to an asymmetric workpiece loading apparatus for loading an asymmetric workpiece having a second body portion formed in a lateral direction of a first body portion having a predetermined length into a processing machine, such as a 3-way valve, The asymmetrical workpiece loading operation can be completely automated to improve the productivity by allowing the second body portion to be loaded in a specific direction at the time of insertion so that the asymmetric workpiece To a loading device.

In particular, regardless of the direction of the asymmetric workpiece that is seated on the transfer unit, that is, the second body portion is turned in the same specific direction before the asymmetric workpiece is inserted, the asymmetric workpiece Therefore, it is possible to automate the process of manually inputting asymmetrical workpieces, which has conventionally been carried out manually by a worker in a harsh environment, so that it is possible to expect the effects of wasting labor, preventing worker fatigue accumulation, reducing labor costs, and improving productivity.

As shown in FIG. 1, a 3-way type asymmetric workpiece V, for example, a brass valve is provided with a first flow passage formed through a first body portion V1 having a predetermined length, Like shape (see [A] in FIG. 1) in which a second body portion V2 having a second flow path communicated with the first flow path is provided on one side of the body portion V1 or similar (See [B] in FIG. 1) or a similar "-" shape (as in [C] of FIG. 1, the female thread portion forming the second flow path in the case of the " A portion in which only the flange portion of the female screw portion is partially protruded, or a configuration in which the second body portion is provided on one side of the first body portion in a relief shape).

The asymmetrical workpiece V having the asymmetric shape on both sides of the center line of the first body part V1 is used for the post processing or assembling of the asymmetrical workpiece, In particular, the direction of the second body portion V2 is very important.

That is, asymmetrical workpieces V (V) are formed according to the machining purpose (type and method of machining), the dimensions of the asymmetric workpiece V (the size of the entire asymmetric workpiece, the height or shape of the protrusion of the second body, ) Must be put into the processing machine in a specific state before machining is performed.

Conventionally, devices for automatically feeding asymmetrical workpieces to a processing machine can not change the direction of the asymmetric workpieces. In order to process the asymmetric workpieces, an operator is placed for each machining machine so that the worker manually inserts the asymmetric workpieces, Most of them are.

For example, in the "automatic workpiece loading and unloading device of a machine tool" (hereinafter referred to as " prior art "),

A gripper cylinder for gripping or releasing the grip of the workpiece in direct contact with the workpiece, a gripping cylinder for providing a gripping force or grip releasing force to the gripper jaw, and a vertical axis and a horizontal axis Down cylinder for allowing the gripper jaw to be vertically transported while being separately transported along with the gripper cylinder and a piping portion for regulating a pressure supplied to the gripping cylinder and the up-down cylinder, Down mechanism so as to be able to be transferred between the position of the workpiece before machining and the position of the workpiece after machining and the chuck by the up-down cylinder, thereby automating the loading (loading) work of the workpiece (hereinafter referred to as asymmetrical workpiece) However,

This prior art technique is incapable of applying the above-described prior art to the asymmetric workpiece having the second body portion V2 because the direction of the asymmetric workpiece is not specified when the gripper grips the asymmetric workpiece V,

Even when the above conventional technique is applied to a general working machine, it is necessary to align the asymmetric workpiece in a specific direction before the gripper grips the asymmetric workpiece, that is, before the workpiece. It is impossible to completely automate the machining operation of the asymmetric workpiece V having the second body portion V2 such as the 3-way valve shape.

In order to solve this problem, the asymmetric workpiece having the second body portion (V2) has a problem in that it is difficult to reduce the workload, V) is required to be fully automated. However, since there is no suitable alternative nowadays, asymmetrical work input operations are performed manually by many companies knowing the inefficiency of manual work.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an asymmetrical workpiece having a second body part such as a 3-way valve type, The asymmetric workpiece is transferred to and restored to the supply unit when the asymmetric workpiece is not supplied to the processing machine due to a failure in loading or the like, thereby achieving a complete automation of the machining operation, thereby preventing waste of labor, A transfer unit for transferring the asymmetric workpiece to and from which the asymmetric workpiece is transferred; a direction changing unit for causing the second body portion of the asymmetric workpiece to be directed in a specific direction so as to achieve a reduction in productivity, , A loading unit for loading asymmetric workpieces, and an asymmetric workpiece And a return unit for causing the workpiece to be discharged and re-stored in the supply unit.

In addition, the present invention provides a method of controlling a plurality of seating plates to improve the efficiency of rotation of work such as feeding of asymmetric workpieces, inputting of asymmetric workpieces, discharging and restoring of asymmetric workpieces, And a turning means for pivotally displacing the seat plate to the outside of the transfer unit so as to facilitate the discharge and transfer of the asymmetric workpiece which is not inserted into the processing machine.

Further, the present invention improves the stability of the machining operation by minimizing the redirection failure or loading failure because the redirection of the asymmetric workpieces is always uniform and constant, regardless of the initial orientation of the asymmetric workpieces seated in the supply unit And a rotating unit disposed on both side support bars of the jig for rotating the asymmetric workpiece by rotating and displacing a pair of support bars supporting the second body part of the asymmetric workpiece, .

In order to achieve the above object, an asymmetric work loading apparatus according to the present invention includes:

An asymmetrical workpiece loading device for loading an asymmetric workpiece having a first body portion having a predetermined length and a second body portion formed at a first side of the first body portion into a processing machine,

A supply unit for supplying an asymmetric workpiece;

A transfer unit including a mounting portion on which an asymmetric workpiece supplied from the supply unit is seated;

A direction switching unit including a jig in which the asymmetric workpiece is placed and a rotating means for rotating the asymmetrical workpiece of the jig so that the second body portion is directed in a specific direction;

A loading unit for transferring the asymmetric workpiece of the seating part to the jig and for introducing the asymmetric workpiece whose direction is changed in the jig into the machine; And a control unit.

The asymmetric work loading apparatus according to the present invention

Further comprising a return unit for receiving the asymmetric workpiece remaining in the seating unit after the direction change or the loading is failed, and for transferring and restoring the asymmetrical workpiece to the supply unit.

Further, in the asymmetric work loading apparatus according to the present invention

Wherein the transfer unit comprises: a plurality of seating plates having the seating portions;

And a rotating means for rotating the displacement plate to the outside of the transfer unit to cause the asymmetric workpiece remaining in the mount portion to be discharged to the return unit.

Further, in the asymmetric work loading apparatus according to the present invention

Wherein the jig includes a receiving portion in which the first body portion is positioned in a horizontal state and both side supporting bars opened to both sides of the receiving portion and to which the second body portion is exposed,

The rotating means

A pair of support bars disposed on both side support bars of the jig and supporting the second body part,

And a driving unit that simultaneously rotates and displaces the supporting bars in mutually opposite directions along the circumferential direction of the first body part held in the receiving part.

 The asymmetrical workpiece loading apparatus according to the present invention may be used for machining asymmetrical workpieces such as a 3-way valve consisting of a first body portion having a predetermined length and a second body portion formed laterally of the first body portion, It is necessary to change the direction of the second body portion toward a specific direction and then grasp it by the loading unit and insert it into the processing machine so that the work of inputting the asymmetric workpiece having the second body portion is removed from the worker's manual work, It is a very useful invention that can completely automate the work and prevent the waste of the labor force through it, thereby reducing the labor cost, improving the productivity, and preventing the cumulative fatigue of the worker.

In addition, when the asymmetric work loading apparatus according to the present invention is introduced into a work environment having poor working conditions, it is possible to maximize productivity while preventing occurrence of various industrial disasters that may occur during processing.

The asymmetrical work loading apparatus according to the present invention has the effect of reducing the direction switching failure or the loading failure because the direction of the second body portion is uniform and constant regardless of the direction of the asymmetric workpiece initially supplied to the seating portion.

Furthermore, the asymmetric workpiece loading apparatus according to the present invention improves the efficiency of work rotation, such as the transfer of asymmetric workpieces, the introduction of asymmetric workpieces, the ejection and restoration of asymmetric workpieces, The asymmetric workpiece is automatically transferred to and restored to the supply unit so that the machining operation can be performed stably,

By constituting the rotation configuration of the asymmetric work loading apparatus in a compact manner, it is possible to achieve the miniaturization of the apparatus and to easily install and use it in various processing sites.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an asymmetric workpiece that can be used in the present invention.
2 is an upper projected plan view of an asymmetrical workpiece loading apparatus according to the present invention;
3 is a projected side view illustrating a supply unit of an asymmetrical workpiece loading apparatus according to the present invention;
4 is a projection side view for explaining an index table and a rotating means of an asymmetric work loading apparatus according to the present invention;
5 is a top view of the orientation switching unit of the asymmetrical workpiece loading apparatus according to the present invention.
6 is a cross-sectional view taken along line A-A ', BB' of FIG. 5;
7 is a side view showing an operating state of a direction switching unit of an asymmetric work loading apparatus according to the present invention;
8 is a projected side view illustrating a loading unit of an asymmetric work loading apparatus according to the present invention.
9 and 10 are plan views illustrating other embodiments of the asymmetric work loading apparatus according to the present invention.

While the present invention has been described in connection with certain embodiments, it is obvious that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

In the drawings, the same reference numerals are used for the same reference numerals, and in particular, the digits of the tens and the digits of the digits, the digits of the digits, the digits of the digits and the alphabets are the same, Members referred to by reference numerals can be identified as members corresponding to these standards.

In the drawings, the components are expressed by exaggeratingly larger (or thicker) or smaller (or thinner) in size or thickness in consideration of the convenience of understanding, etc. However, It should not be.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

 In the present application, the term " comprising " or " consisting of ", or the like, refers to the presence of a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

It is to be understood that the first to second aspects described in the present specification are merely referred to in order to distinguish between different components and are not limited to the order in which they are manufactured, It may not match.

In describing the asymmetrical workpiece loading apparatus according to the present invention, an unambiguous approximate direction reference is specified for convenience, and the direction in which the gravitational force acts in the downward direction in FIG. Unless otherwise specified in the description of the invention and in the claims, the direction is specified in accordance with this standard, and the left and right in each drawing are relative concepts for convenience of explanation, .

Prior to the description, the 3-way valve shown in FIG. 1 will be described as an asymmetric workpiece (V) in the present specification. However, the asymmetric workpiece loading apparatus according to the present invention is not limited to this, The second body portion V2 is provided in the lateral direction of the first body portion V1 so that the first body portion can be applied to the automatic loading of all the workpieces that are asymmetrical with respect to the longitudinal centerline.

Hereinafter, an asymmetric work loading apparatus according to the present invention will be described with reference to the accompanying drawings.

2 to 8, the asymmetric work loading apparatus according to the present invention mainly comprises a supply unit 10 for supplying an asymmetrical work V, a feeder for feeding the supplied asymmetrical work V, Unit 20, a direction switching unit 30 for rotating the asymmetric workpiece V such that the second body portion V2 of the asymmetrical workpiece V is directed in a specific direction, (V) to the direction switching unit (30), a loading unit (40) for transferring the asymmetrical workpiece (V) whose orientation has been changed to the machine (S), and an asymmetric workpiece (V) remaining in the transfer unit (20) And a return unit (50) for causing the unit (10) to be discharged and restored.

3, the supply unit 10 of the present invention has a hopper 11 in which a plurality of asymmetrical workpieces V are stored, and in the hopper 11, only a single asymmetric workpiece V And feeds them to the seating portion 23S of the conveying unit 20 in a selective manner so that various conveying and feeding devices connected to the hopper 11 such as a belt conveyer, a step feeder, a ball feeder a bowl feeder, a linear feeder, and a parts feeder.

3, a plurality of elevating plates 12a arranged at different heights are provided, and asymmetrical workpieces (not shown) of the hopper 11 V are housed, elevated, lowered, transported and supplied individually,

Fig. 9 schematically shows a parts feeder for separately feeding asymmetrical workpieces V by rotational vibration as a supply unit 10A,

In Fig. 10, a linear feeder is schematically shown which feeds the asymmetric workpieces V separately by vibration to the supply unit 10B,

Since the kind of the feeder and the specific operation mode are not related to the essential features of the present invention, a detailed description thereof will be omitted. For the sake of convenience, the stepper 12 shown in FIG.

3, the supply unit 10 of the present invention is provided with a plurality of asymmetrical workpieces V, which are ascended in the step feeder 12, A discharge member 13 connected to the discharge port of the step feeder 12 so as to be able to be mounted on the step feeder 12 and a mounting member 14 installed to move up and down on the vertical frame 12A connected to the step feeder 12.

The discharge member 13 is installed to have a predetermined inclination so that the asymmetric workpiece V discharged to the discharge port is dropped and discharged toward the transfer unit 20,

The seat member 14 is provided with a stopper (not shown) therein so that the asymmetric workpiece V falling and discharged from the discharge member 13 can always be seated at a predetermined position of the seat portion 23S .

In the present invention, when the conveying unit 20 is stopped, the seating member 14 is lowered, and the lifting plate 12a is lifted and the asymmetrical workpiece V is dropped and discharged to the discharging member 13. At this time, Due to the stopper of the seat member 14, the asymmetric workpiece V always rests only at a predetermined position of the seat portion 23S.

Although not shown in the drawing, when two or more asymmetric workpieces are seated on the seating part 23S, a partition for allowing the asymmetric workpieces to be separated and supplied is provided in the discharge member 13 and the seating member 14 .

Next, the transfer unit 20 of the present invention transfers the asymmetrical workpiece V supplied from the supply unit 10 to the loading standby position,

9 and 10, the conveying unit 20 may also be a general belt conveyor 20A or the like,

As shown in Figs. 2 and 4, an index table 21 in which a plurality of seating plates 23 having a seating portion 23S are radially arranged can be used,

Since this transfer unit 20 has only a slight difference in the transfer rotation direction of the asymmetric workpiece V and its functions and characteristics are large, it is possible to introduce other types of transfer units shown in the drawings,

Hereinafter, the index table 21 shown in FIG. 2 and FIG. 4 will be described as an example for the sake of convenience of explanation (the efficiency of the job rotation of the present invention is improved and the asymmetrical workpiece V To the hopper 11 of the supply unit 10 so that the loading and unloading operations of the asymmetric workpiece V can be fully automated.

2 and 4, as the transfer unit 20 of the present invention, the index table 21 is mounted on the base 22 via a rotary shaft and rotates, (Not shown), and the rotating shaft of the driving means and the index table 21 are connected to each other by various gears, shafts, belts or the like to rotate (rotate counterclockwise in FIG. 2).

In the figure, it can be seen that a total of four seating plates 23 are provided on the index table 21, and the index table 21 is rotated 90 degrees and then rotated 90 degrees again.

The asymmetrical workpiece V is seated on the seating plate 23 at the first position P1 under the seating member 14 and the seating plate V is moved at the second position P2 in the rotation direction of the index table 21 The asymmetrical workpiece V on the seating plate 23 is loaded by the loading unit 40 and the asymmetrical workpiece V on the seating plate 23 is loaded in the fourth position P4 The asymmetric workpiece V is discharged to the return unit 50 when the asymmetric workpiece V remains on the seating plate 23. [

A fixed plate 24 is provided on the index table 21 for discharging the asymmetric workpiece V to the return unit 50 and is fixed to one end of the fixed plate 24 The seat plate 23 is hinged to the outside direction side end)

The seat plate 23 is rotated by the rotation means 25 built in the lower portion of the base 22. [

The pivoting means 25 is constituted by a cylinder 26 provided below the base 22 for pivotally displacing the seat plate 23 to the outside of the index table 21 with the hinge shaft 23a as an axis , A contact roller 25a is provided at an end of the plunger 25B which is moved up and down by the cylinder body 25A,

A through hole (not shown) through which the plunger 25B can pass is formed in the base 22 and the fixed plate 24. [

Therefore, when the direction switching of the asymmetric workpiece V in the direction switching unit 30 fails or the articulated robot 41 of the loading unit 40 does not grip the asymmetric workpiece V, When the index table 21 rotates and the seat plate 23 has moved to the fourth position P4 even when the index plate 21 remains on the seat portion 23S without being inserted into the processing machine S, The platen 25B is lifted and the contact plate 23 is pivoted and displaced as the contact roller 25a presses the lower surface of the seat plate 23 to rotate the asymmetric workpiece V on the seat portion 23S To the unit (50).

The seat plate 23 and the turning means 25 having such a configuration and function are applied not only to the index table 21 but also to other types of conveying units 20 (For example, a mounting plate 23 provided with a mounting plate 25).

The direction switching unit 30, which is one of the core of the present invention, is installed at one side of the base 22 to rotate the asymmetric workpiece V received through the loading unit 40, which will be described later, V2) in a specific direction.

5 to 7, the direction switching unit 30 includes a jig 31 in which an asymmetric workpiece V is received, a rotating means 32 for rotating the asymmetric workpiece V, ).

The jig 31 has a shape corresponding to the shape of the asymmetric workpiece V and includes a receiving portion 31a in which the first body portion V1 is horizontally positioned and openings on both sides of the receiving portion 31a And both side openings (31b) through which the second body portion (V2) positioned in the jig (31) is exposed,

The rotating means 32 includes a pair of support bars 33 disposed at both side openings 31b of the jig 31 and supporting the second body portion V2,

And a driving unit 34 that simultaneously rotates and displaces the support bars 33 in mutually opposite directions along the circumferential direction of the first body part V1 placed in the receiving part 31a.

In other words, the asymmetric workpiece V mounted on the seating part 23S is structurally structured such that the first body part V1 is moved in the left and right direction by the weight of the second body part V2, The grip portion 42 of the transfer unit 40 grips both ends of the first body portion V1 of the asymmetric workpiece V tilted to either the left or right side of the jig 31 , The second body portion V2 is supported by the lower support bar 33 while being accommodated in one of the two openings 31b.

When the loading unit 40 releases the grip of the first body part V1 and the support bar 33 is upwardly displaced by the driving part 34, the second body part V2 is rotated When the rotation of the supporting bars 33 is completed, the second body part V2 is switched between the supporting bars 33 so that the second body part V2 faces upward.

When the grip portion 42 of the loading unit 40 grips both ends of the first body portion V1 with the second body portion V2 facing the specific direction by rotating the asymmetric work V in this way, The asymmetric workpiece V gripped by the asymmetric workpiece V is always in the same and constant direction as the second body portion V2 so that the direction of the asymmetric workpiece V is put into the machining machine S in a specific state .

In order to rotate the support bar 33 upwardly, the driving unit 34 includes shafts 35 and 36 installed to rotate in one direction in the longitudinal direction of the receiving unit 31a,

A first driving bar 37A connected in the lateral direction of the shafts 35 and 36 and a second driving bar 37B connecting the supporting bar 33 and the first driving bar 37A And includes a rotating member 37.

That is, the rotary member 37 connects the shafts 35 and 36 to the support bar 33 by bypassing the jig 31 in a similar 'a' shape so that the shafts 35 and 36 are bi- The support bar 33 is rotated in the trajectory of the arc shape as much as the length of the first drive bar 37A so that the asymmetric workpiece V can be rotated.

Particularly, in the present invention, since the pair of supporting bars 33 are simultaneously rotated, the loading unit 40 can be rotated independently of the direction of the second body portion V2 placed in the receiving portion 31a It is possible to change the direction of the second body portion V2 regardless of the direction in which the asymmetric workpiece V of the seating portion 23S is first grasped,

In addition, when both the support bars 33 are rotated, the first and second support members 33 and 32 are brought into contact with both sides of the second body portion V2, thereby restricting the rotation of the second body portion V2.

However, if two electric motors are used, the volume of the direction switching unit 30 is increased, the manufacturing cost is increased, and the loading unit (not shown) 40 may be restricted. Therefore, the present invention allows the shafts 35, 36 to operate in conjunction with each other using only one electric motor.

The first shaft 35 of the shafts 35 and 36 connected to the support bars 33 is rotated by the electric motor M,

A first gear 35A coupled to the first shaft 35,

An interlocking shaft 38 to which a second gear 38A engaged with the first gear 35A is coupled at one end and a first pulley 38B is coupled at the other end,

And a second pulley 36A coupled to the second shaft 36 of the shafts 35 and 36 and connected to the first pulley 38B by a timing belt 39. [

Therefore, when the electric motor M rotates the first shaft 35 in the clockwise direction, the interlocking shaft 38 rotates counterclockwise, and the second shaft 36 connected by the timing belt 39 also rotates counterclockwise So that the support bars 33 are simultaneously rotated in mutually opposite directions to rotate the asymmetric workpiece V.

Reference numeral 39A in FIG. 6 denotes a pressure roller for allowing the timing belt 39 to be held tight.

In this case, it is needless to say that the jig 31, the support bar 33, and the rotary member 37 can be used in accordance with the specification, shape, etc. of the asymmetric workpiece.

In addition, the direction switching unit 30 can detect various operations of the support bar, the driving unit, the direction of the workpiece, and the motion of the articulated robot.

The loading unit 40 of the present invention can move the position of the asymmetric workpiece V by grasping the asymmetric workpiece V and loading and unloading the asymmetrical workpiece V into the direction switching unit 30 and the machine tool S (For example, a gantry loader or the like in which the drive arm is subjected to lateral movement and longitudinal movement)

The use of the gantry loader restricts the direction of introduction into the processing machine S, and therefore, the present invention uses the articulated robot 41 as the loading unit 40, as shown in Fig.

The articulated robot 41 has a multi-joint structure in which the driving arm 43 is jointed to X, Y and Z axes according to preset coordinates, The grip portion 42 is provided for gripping both ends of the first body portion V1 of the asymmetric workpiece V.

The articulated robot 41 is configured such that the grip portion 42 grasps the asymmetric workpiece V of the seat portion 23S and holds it in the jig 31 of the direction switching unit 30 and remains as it is, When the direction of the workpiece (V) is changed, the asymmetric workpiece (V) is gripped again and put into the machine (S).

The detailed structure and operation principle of the articulated robot 41 will be described in detail with reference to the drawings.

In this case, since the state of the asymmetric workpiece V placed on the seating part 23S by the seating member 14, that is, the direction of the first body part V1, is not always constant, And is rotatable with respect to the driving arm 43,

The articulated robot 41 operates in cooperation with a shape reading means capable of reading the orientation, shape, and the like of the asymmetric workpiece V of the seat portion 23S.

The shape reading means is a type capable of reading the state of the asymmetric workpiece V placed on the seating portion 23S via various sensors provided on the seating plate 23 or the grip portion 42 of the articulated robot 41, If there is no limit,

A vision camera (44) is provided above the third position (P3) so as to speed up the reading (recognition) of the asymmetric workpiece (V) and not interfere with the operation of the articulated robot (41) The direction of the first body part V1 of the workpiece V is sensed in advance and the direction information on which both ends of the first body part V1 are positioned is transmitted to a control part (not shown) of the articulated robot 41. [

Accordingly, the articulated robot 41 moves the upper arm 43 to the upper part of the seat plate 23 along the previously set coordinates, and then, based on the direction information of the first body part V1 transmitted from the vision camera 44 The position where the asymmetric workpiece V is seated by the seating member 14 is fixed so that the vision camera 44 can be held by the first body portion V1 ) Can be used to sense the direction.

In this case, if the direction of the second body part V2 is not changed because the asymmetric workpiece V is misaligned to the jig 31, the articulated robot 41 of the present invention can move the jig 31, Of the asymmetric workpiece (V) of the third position (P3) to the seating plate (23) at the third position (P3).

Next, a return unit 50 is installed at one side of the transfer unit 20 to receive the asymmetric workpiece V remaining in the seating part 23S and to transfer the remaining workpiece V to the unit 10 , And re-stored.

The return unit 50 is provided with a belt conveyor 51 connected to the inlet of the hopper 11 (in FIGS. 9 and 10, the belt conveyor 20A is adopted as the conveying unit 20) A belt conveyor 50A different from the conveyor 51 is shown schematically).

When the seat plate 23 of the index table 21 rotates and moves to the fourth position P4, the pivoting means 25 is operated to pivotally displace the seat plate 23. At this time, The asymmetrical workpiece V is automatically discharged to the belt conveyor 51, that is, the return unit 50, due to its own weight,

The asymmetric workpiece V delivered to the belt conveyor 51 moves upward by riding on the belt and is restored in the supply unit 10 through the inlet of the hopper 11. [

When the index table 21 and the return unit 50 are used as described above, the supply of the asymmetric workpiece V, the atmospheric discharge, the discharge of the asymmetric workpiece V, and the input to the machine tool S are all operated with a constant rotation. The machining operation of the asymmetric workpiece V having the two body portions V2 can be completely automated.

Next, the operation and effect of the present invention according to the configuration of the asymmetric work loading apparatus will be described.

When the asymmetric workpiece loading apparatus is operated in a state where a plurality of asymmetric workpieces V are stored in the hopper 11 of the supply unit 10, the lift plate 12a is moved up and down, The workpieces V are selected one by one.

The asymmetric workpiece V thus selected is discharged through the discharge member 13 when the seat member 14 is lowered to the upper portion of the seat plate 23 at the first position P1 so that the predetermined position of the seat member 23S Respectively.

When the indexing table 21 is rotated after the seating member 14 is raised, the other seating plate 23 on which the asymmetrical workpiece V is not placed moves in the first position P1 to supply the asymmetric workpiece V , The seat is repeated.

When the asymmetric workpiece V is rotated and conveyed to the third position P3 through the atmosphere of the second position P2 and the vision camera 44 senses and reads the direction of the first body part V1 in advance The articulated robot 41 driven from the standby position to the third position P3 rotates the grip portion 42 in the longitudinal direction of the first body portion V1 based on the orientation information of the vision camera 44, So as to grasp the asymmetric workpiece (V).

After the unsymmetrical workpiece (V) is gripped, the articulated robot 41 is driven to the upper portion of the jig 31, and asymmetrical workpiece V is placed in the receiving portion 31a of the jig 31, do.

The asymmetric workpiece V held in the jig 31 is exposed to any one of the openings 31b at both sides of the second body portion V2 and when the rotating means 32 is operated in this state, The direction of the asymmetric workpiece V is switched so that the workpiece V2 is directed in a specific direction (upper side).

In this state, the grip portion 42 grasps the asymmetric workpiece V again and feeds it to the asymmetrical workpiece input port of the machine tool S, and the multi-joint robot 41 is again moved to the third position P3 And the next asymmetric workpiece V is loaded.

The seating plate 23 having completed the loading of the asymmetric workpiece V is rotationally moved to the fourth position P4 and the rotating means 25 is operated at the fourth position P4, Is displaced on the outer side of the index table (21) and in the direction of the belt conveyor (51).

At this time, during the rotation of each operation according to the rotation of the index table 21, if the loading of the articulated robot 41 fails or the articulated robot 41 causes the asymmetric workpiece V to move Even if the asymmetric workpiece V is left on the seating portion 23S by being conveyed back to the workpiece 23,

The asymmetric workpiece V is discharged to the belt conveyor 51 due to the rotational displacement of the seat plate 23 at the fourth position P4 and is moved to the seat plate 23, An asymmetric workpiece (V) can be fed and seated,

The asymmetric workpiece V discharged to the belt conveyor 51 is restored again to the hopper 11 so that the machining operation is continuously repeated.

Therefore, in the present invention, the asymmetrical workpiece (V) having a similar 'ㅗ' or '' 'or' '' shape is manually removed from the work machine (S) It is possible to fully automate the loading and unloading of the workpiece V, that is, the asymmetric workpiece input operation to the machine tool S.

While the present invention has been described with reference to the accompanying drawings, it will be apparent to those skilled in the art that various modifications, changes, and substitutions can be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims. Substitutions should be construed as falling within the scope of protection of the present invention.

V: asymmetrical workpiece V1: first body part
V2: second body part S:
M: Electric motor
10, 10A, 10B: supply unit 11: hopper
12: step feeder 13: discharge member
14:
20, 20A: transfer unit 21: index table
22: base 23: seat plate
23S: seat part 24: fixed plate
25:
30: direction switching unit 31: jig
31a: accommodating portion 31b: opening
32: rotating means 33: supporting bar
34: driving part 35, 36: shaft
37: rotating member 38: interlocking shaft
39: Timing belt
40: loading unit 41: articulated robot
42: driving arm 43: grip portion
44: Vision camera 50: Return unit 50A, 51: Belt conveyor

Claims (4)

An asymmetrical workpiece loading device for loading an asymmetric workpiece having a first body portion having a predetermined length and a second body portion formed at a first side of the first body portion into a processing machine,
A supply unit for supplying an asymmetric workpiece;
A transfer unit including a mounting portion on which an asymmetric workpiece supplied from the supply unit is seated;
A direction switching unit including a jig in which the asymmetric workpiece is placed and a rotating means for rotating the asymmetrical workpiece of the jig so that the second body portion is directed in a specific direction;
A loading unit for transferring the asymmetric workpiece of the seating part to the jig and for introducing the asymmetric workpiece whose direction is changed in the jig into the machine; , ≪ / RTI >

Wherein the jig includes a receiving part in which the first body part is placed and both side openings in which the second body part is opened to both sides of the receiving part,
The rotating means
A pair of support bars disposed at both side openings of the jig and supporting a second body part exposed,
And a driving unit for upwardly displacing the support bar.
The method according to claim 1,
Further comprising a return unit for receiving the asymmetric workpiece remaining in the seating part after the direction change or the loading is failed, and for transferring and restoring the asymmetrical workpiece to the supply unit.
3. The method of claim 2,
Wherein the transfer unit comprises: a plurality of seating plates having the seating portions;
And a rotating means for rotating the displacement plate to the outside of the transfer unit to cause the asymmetric workpiece remaining in the mount portion to be discharged to the return unit.
4. The method according to any one of claims 1 to 3,
Wherein the driving unit simultaneously rotationally displaces the support bars in mutually opposite directions along a circumferential direction of the first body portion held in the accommodating portion.

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