WO2008066023A1

WO2008066023A1 - Work hand apparatus and work transfer method

Info

Publication number: WO2008066023A1
Application number: PCT/JP2007/072820
Authority: WO
Inventors: Naoya Unemoto; Takahiro Horiyama; Michisada Kumasaki
Original assignee: Hirotec Corporation
Priority date: 2006-12-01
Filing date: 2007-11-27
Publication date: 2008-06-05

Abstract

A work hand apparatus (1) is connected to the leading end of an arm (21) of a robot (20) and transfers a work (W) by turns and retraction of the arm (21). The work hand apparatus is provided with a frame (2); reference pins (3a, 4a, 5a) for aligning the work (W) with the frame (2); clampers (3b, 4b, 5b) incorporated with the reference pins (3a-5a) for holding the work (W); and first, second third pin clamper units (3, 4, 5) having the reference pins (3a-5a) and clampers (3b-5b), respectively. The work hand apparatus is further provided with a first driving means (6) for aligning the first pin clamper unit (3) to be freely moved in an X axis direction; a second driving means (7), which aligns the second pin clamper unit (4) and the third pin clamper unit (5) to be freely moved in a Y axis direction that orthogonally intersects with the X axis; and a third driving means (8) for aligning the second pin clamper unit (4) and the third pin clamper unit (5) in a Z axis direction that orthogonally intersects with the X axis and the Y axis. Thus, versatility of the work hand apparatus is improved.

Description

Specification

Work hand device and work transfer method

Technical field

[0001] The present invention uses a work hand device that grips and transports a workpiece formed of a metal thin plate, a polymer resin thin plate, or the like by a work hand device connected to a robot arm, and uses the work hand device. Relates to the workpiece transfer method.

Background art

[0002] Conventionally, for example, in factories that manufacture doors (workpieces) such as right and left doors of automobiles, articulated robots have been introduced in place of many workers in each process, and an unmanned factory has been constructed. Has been. At the tip of the arm of this articulated robot, a model-specific work hand device used only for the left and right doors of the same model is connected. The door is transported between each process by the work hand device, which is the part that constitutes the door, and finally the two are combined to complete the door.

FIG. 15 is a perspective view showing a conventional work hand device. As shown in FIG. 15, the fork hand device 50 includes a frame 51, positioning pins 52 and 53 fixed at two locations of the frame 51, and work clamp devices 54, 55, 56, It is composed of 57. In this way, the work hand device 50 is in charge of the function of determining the position of the workpiece with the positioning pins 52, 53 force, and the work clamping device 54, 55, 56, 57 is in charge of the function of clamping the work. Separation of functions has been made. In addition, since the positioning pin position and the work clamp position change each time the work changes, the work hand device 50 is replaced. Therefore, since the work hand device 50 is a dedicated product for a specific work, there is a problem that it is necessary to design and manufacture each new model.

In addition, the work hand device 50 is connected to the tip of an arm 21 by an ATC (Auto Tool Changer: Model XC-30: Yutta Corporation, see Automatic Tool Changer System) 22. In order to replace the work hand device 50, this ATC 22 is located on the back side of the center of the frame 51 shown in FIG. 15, and the connection part 22 b fixed to the back side of the frame 51 of the work hand device 50 and the arm 21. The connection 22a fixed to the tip Power is also composed. When the model is changed, there is a problem that the work hand device 50 must be changed to another work hand device each time by the automatic attachment / detachment mechanism of the ATC22. In addition, there is a problem that the storage stand for storing the dedicated work hand device 50 requires a large space. Furthermore, there was a problem that the number of types continued to increase as the number of models increased. For example, a similar dedicated work hand device is disclosed in Japanese Patent Laid-Open No. 2000-263157.

Disclosure of the invention

Problems to be solved by the invention

[0005] Therefore, the present invention provides a highly versatile work hand device, not a dedicated product for a specific work. In addition, design and production for each model is unnecessary, and even if there is a model change, it is not possible to replace it with another work hand device.In addition, there is no need for a large space storage stand for storing the work hand device, and the number of models increases. However, it is an aspect of the present invention to provide a work hand device that does not increase the number of types of work hand devices, and a work transfer method using the work hand device.

Means for solving the problem

[0006] More specifically, the configuration of the work hand device (1) according to one aspect of the present invention includes a reference that is connected to the tip of the arm (21) of the robot (20) and is provided on the work (W). Insert the three first, second and third pins (3a, 4a, 5a) into the pin holes and position them in place. The first, second and third pins (3a, 4a, 5a ), The first, second and third clampers (3b, 4b, 5b) appear and hold the work (W), and the work ( W) is a work hand device (1) for conveying a workpiece (1), the frame (2, 2a) serving as a base of the work hand device (1), and the work (W) positioned on the frame (2) A first pink ramp unit (3) having the first pin (3a) as a reference pin to be determined, and a first clamper (3b) built in the first pin (3a) and holding the workpiece (W) When The second pin (4a) as a reference pin that is arranged on the frame (2a) and positions the work (W), and a second pin (4a) that is built in the second pin (4a) and holds the work (W). A second pink ramp unit (4) having a clamper (4b), the third pin (5a) as a reference pin that is disposed on the frame (2a) and positions the cake (W); Built in 3 pin (5a) The third pink ramp unit (5) having the third clamper (5b) that holds the workpiece (W) and the first pink ramp unit (3) are moved in the X-axis (left and right) direction. The first drive means (6) that freely determines the position, the second pink ramp unit (4), and the third pink ramp unit (5) can be moved in the Y axis (front-rear) direction perpendicular to the X axis. The second drive means (7), the second pink ramp unit (4), and the third pink ramp unit (5) are determined so as to be movable in the Z-axis (vertical) direction perpendicular to the X-axis and Y-axis. And a third driving means (8) for determining each of them.

[0007] Further, in the work hand device of the present invention, the first drive means (6) includes a fourth stage in which an air cylinder (10a) is provided on a setup table (10) installed in the vicinity of the robot (20). Drive means (16) is provided, and the fixed state of the first pink ramp unit (3) is released by the supply of air so that it can move in the X-axis direction. The first pink ramp unit can be moved by shutting off the air. (3) The first fixing means (9) for fixing the X-axis direction is provided.

[0008] Further, in the work hand device of the present invention, the third driving means (8) is movable in the Z-axis direction by releasing the fixed state of the second pink ramp unit (4) by supplying air. The arm (21) of the robot (20) is pressed against the setup table (10) to move the position of the second pin (4a) of the second pink ramp unit (4). A second fixing means (11) for fixing the Z-axis direction of the second pink lamp unit (4) by blocking is provided.

[0009] The workpiece transfer method using the workpiece hand device of the present invention includes a moving range of each of the first pink ramp unit (3) and the second and third pink ramp unit (4, 5). In addition, the workpiece (W) is provided with a reference pin hole (h3, h4, h5), and the first pink ramp unit (3) and the second, Position the third pink lamper unit (4, 5), and connect the first, second, and third pins (3a, 4a, 5a) of each pink lamper unit to the reference pin holes (h3, h4) of the workpiece (W). , h5), the workpiece (W) is held by the built-in clampers (3b, 4b, 5b), and the workpiece (W) is conveyed.

The invention's effect

[0010] The work hand device of the present invention is not a dedicated product for a specific work and has high versatility. Also, There is no need to design and manufacture for each model, and even if there is a model change, there is no need to replace it with another work hand device. In addition, there is no need for a large space storage stand for storing the work hand device. However, the number of types of work hand devices is not increased. Furthermore, it is possible to provide a work transfer method using this work hand device.

Brief Description of Drawings

FIG. 1 is a plan view showing a work hand device of the present invention.

FIG. 2 is a front view showing a work hand device of the present invention.

[FIG. 3] (a) is a right side view of the work hand device, and (b) is an enlarged cross-sectional view taken along line AA shown in FIGS. 2 and 3.

[Fig. 4] (a) is a left side view of the first pink lamp unit, and (b) is a front view thereof.

[Fig.5] Shows the pin positions of the workpiece hand device corresponding to various workpiece reference hole positions. (A) is a small right door, (b) is the same small left door, (c) is the other The small left door, (d) is an explanatory view showing the large right door.

FIG. 6 is a plan view showing a work hand device according to a second embodiment of the present invention.

FIG. 7 is a front view showing a work hand device according to a second embodiment of the present invention.

FIG. 8 is a plan view showing a work hand device according to a third embodiment of the present invention.

FIG. 9 is a front view showing a work hand device according to a third embodiment of the present invention.

FIG. 10 is a right side view showing a work hand device according to a third embodiment of the present invention.

FIG. 11 is a plan view showing the arrangement of the setup table and showing a state where the work hand device is connected to the tip of the arm of the robot.

FIG. 12 is an enlarged plan view of the setup table.

FIG. 13 is a front view showing the arrangement of the setup table.

FIG. 14 is a right side view showing the arrangement of the setup table.

FIG. 15 is a perspective view showing a conventional work hand device.

Explanation of symbols

[0012] 1, 1 ', 1 "work hand device

2, 2a frame

2b Stotto 1st pink lampa unit a 1st pin

b 1st clamper c, 4c, 5c stay body

e Cylinder

f link

g Cam slot

h, 3k, 3n, 3p pin i cylinder rod s shoulder

2nd pink lampa unit a 2nd pin

b Second clamper

3rd pink lampa unit a 3rd pin

b Third clamper

1st drive means (X axis) a, 8a Servo motor

b, 8b Ball screw c Guide rail (X axis) d, 8d Nut block e, Qe ^f , 8e, 8e ^f Pulley f, 8f Toothed belt g Slide nut

Second drive means (Y axis) a Air cylinder

c Guide rail (Y axis) 7d slide nut

7e Succino

8 Third drive (Z axis)

8 First drive means (Z axis)

8a, 8a ⁷ servo motor

8b ball screw

8c Guide rail (Z axis)

9 First fixing means (X axis)

9a 1st brake unit

9d 1st bar

10 Setup table

10a, 10a 'Air cylinder

10b guide rail

10c, 10c 'half block

10d, lOd ⁷ , lOd positioning block

10e Positioning plate

10f, lOf Slide nut

10g base

11 Second fixing means (Z-axis)

11a Second brake unit

11c 2nd biasing means (2nd tension coil panel) l id 2nd bar

12 Third fixing means (Z axis)

12a 3rd brake unit

12c 3rd biasing means (3rd tension coil panel)

12d 3rd bar

16, 16 4th drive means

20 robot 21 arm

22 ATC (Auto Tour Changer)

hi, h2, h3, h4, h5 reference pin hole

X, Y, Z, Zl, Ζ2 axis

W Work

BEST MODE FOR CARRYING OUT THE INVENTION

[0013] <First embodiment>

Hereinafter, a work hand device of the present invention will be described in detail with reference to the drawings. Fig. 1 is a plan view showing the work hand device of the present invention, Fig. 2 is a front view thereof, Fig. 3 (a) is a right side view thereof, and (b) is an enlarged view of line A-A shown in Figs. It is sectional drawing.

As shown in Fig. 1, a connecting portion 22a constituting A TC22 (see Fig. 1) is connected to the tip of an arm 21 of a workpiece transfer robot 20 (see Fig. 11). The connecting portion 22b is also connected to the rear end portion of the hand-hand device 1, and the arm 21 and the work hand device 1 are detachable by connecting the connecting portion 22a and the connecting portion 22b of the ATC22. The frame 2 serves as a base of the work hand device 1, and the frame 2 and the frame 2a are formed in a T shape.

First, the drive device for each axis of the work hand device 1 will be described.

The first driving means 6 is a driving device that determines the position of the first pink ramp unit 3 so as to be movable in the X-axis (left-right) direction.

As shown in FIG. 1, the first drive means 6 is here constituted by an X-axis servomotor 6a, a ball screw 6b, a guide rail 6c, and the like. In other words, two guide rails 6c for the X axis are arranged in parallel at the center of the frame 2. At the center of this guide rail 6c, a ball screw 6b is mounted, screwed into a nut block 6d (see FIG. 3 (b)) that serves both as a ball screw nut and a slider, and is slidably fitted. ing. As shown in FIG. 2, both ends of the ball screw 6b are pivotally supported by bearings, and a pulley 6e 'is attached to the shaft end of the ball screw 6b. Further, the pulley 6e (see FIG. 1) is mounted to the shaft end of the servomotor 6a for X-axis, toothed belts 6f, is rotated in the ball screw 6b via the pulley 6 _e 'is transmitted. A stay 3c is erected on the top surface of the nut block 6d (see Fig. 2). The first pink lamper unit 3 is placed on the tape 3c.

The first drive means 6 may be a servo motor, a hydraulic / pneumatic cylinder, or another drive device. For example, the first driving means 6 includes the first fixing means and the fourth driving means 16 of the setup table 10.

The second drive means 7 is a drive device that determines the position of the second pink lamper unit 4 and the third pink lamper unit 5 so as to be movable in the Y-axis (front-rear) direction orthogonal to the X-axis.

As shown in Fig. 1, the second drive means 7 includes the Y-axis air cylinder 7a, the Y-axis guide rails 7c and 7c (see Fig. 3 (a)), and the struts 7e and 7e (see Fig. 1). ) Etc. The air cylinder 7a is disposed at right angles to the X-axis guide rail 6c. This air cylinder 7a is one and can be expanded and contracted in the Y-axis direction by inflow of high-pressure air.When the air cylinder 7a is shortened, the distance between the second pin 4a and the third pin 5a is an example in plan view. For example, 300mm. Further, when the air cylinder 7a is extended, the second pin 4a and the third pin 5a move by 50 mm each and expand to 400 mm, for example. These moving distances are accurately adjusted by the backward strobes 7e and 7e and the forward strobes (not shown).

The frame 2a formed at right angles to the frame 2 is provided with two upper and lower guide rails 7c, 7c in the Y-axis direction, and slide nuts 7d, ... (see Fig. 1) are slidably attached to each. ing. The left and right slide nuts 7d, 7d have guide rails 8c, 8d, which constitute the third drive means (for shafts) 8, 8 'described later, as shown in Fig. 3 (a). 8c is fixed and slidable in the Y-axis direction.

[0016] As shown in FIG. 3 (a), the third driving means 8 is capable of moving the second pink ramp unit 4 and the third pink ramp unit 5 in the Z-axis (vertical) direction perpendicular to the Y-axis. It is a drive device that determines the position. Here, the third driving means 8 is arranged on the right side for the Z1 axis, and the third driving means ^ is arranged on the left side for the Z2 axis, and they are symmetric. Therefore, the configuration of the right third drive means 8 will be described, and the description of the configuration of the left third drive means する will be omitted because it overlaps.

As shown in FIG. 3 (a), the Z-axis is composed of a servo motor 8a, a ball screw 8b, a guide rail 8c, and the like. Since there are two Z-axes here, the Z1 axis (right side) and the Z2 axis (left side) Side). The third driving means 8 for the Zl-axis may be the same in the Z-direction position of the second pin 4a and the third pin 5a, for example, in the right door and the left door (one W). However, it may be different. If they are different, the position is changed by driving the servomotors 8a of the third driving means 8 in opposite directions. That is, the relative positions of the heights of the second pin 4a and the third pin 5a are opposite. The door in which the heights in the Z direction of the first pin 3a, the second pin 4a, and the third pin 5a are matched, the door in which the heights in the Z direction of the second pin 4a and the third pin 5a are matched, This application is applicable to various doors such as doors where the heights in the Z direction of the first pin 3a, second pin 4a, and third pin 5a are all inconsistent!

Note that the Z-axis can be any number of Z-axes.

[0017] As shown in FIGS. 3 (a) and 3 (b), a ball screw 8b is attached to the center of the guide rail 8c constituting the drive device of the right third drive means 8, and a ball screw nut is provided. And a nut block 8d that also serves as a slide, and is slidably fitted. Further, both ends of the ball screw 8b are pivotally supported by bearings, and a pulley 8e 'is attached to the shaft end of the ball screw 8b. A pulley 8e is also attached to the shaft end of the Z-axis servomotor 8a, and rotation is transmitted via a toothed belt 8f. The second pink ramp unit 4 is placed on the right nut block 8d via a stay 4c. Similarly, the third pink ramp unit 5 is placed on the left block 8d via a stay 5c. The third driving means 8 may be any driving device other than this.

[0018] Fig. 4 (a) is a left side view of the first pink lamp unit, and Fig. 4 (b) is a front view thereof. The first pink lamp unit 3 is arranged on the nut block 6d arranged on the frame 2 via the stay 3c, and is incorporated in the first pin 3a of the reference pin for positioning the work W and the first pin 3a. And a first clamper 3b for holding the workpiece W. Similarly, the second pink lamp unit 4 is arranged on the frame 2a and is a second pin 4a of a reference pin for positioning the work W, and a second clamper built in the second pin 4a and holding the work W. 4b. Further, the third pink lamp unit 5 is disposed on the frame 2a, and the third pin 5a as a reference pin for positioning the work W, and the third clamper 5b that is built in the third pin 5a and holds the work W, have.

[0019] As shown in FIG. 1, the first pin 3a of the first pink lamp unit 1 and the second pink lamp unit The configuration of the second pin 4a of unit 4 and the configuration of the third pin 5a of the third pink lamper unit 5 are the same, so the first pink lamper unit 3 will be described, and the second pink lamper unit 4 and the third pink lamper The duplicate description of one unit 5 will be omitted with the same reference numerals.

As shown in FIG. 4 (b), the first pink ramp unit 3 is provided with a shoulder 3s as a reference for positioning one end of the workpiece W on the upper surface of the body 3d formed in an L shape. A first pin 3a is formed on the body around the shoulder 3s. Connected to the right side surface of the body 3d is an air cylinder 3e for moving the built-in first clamper 3b in and out of the first pin 3a.

The 1st pin 3a of the 1st pink ramp unit 3 has a tip cut into a diamond cut when viewed from above, an outer diameter of about 16mm, and a shoulder 3s about 20mm from the tip. Hold the workpiece W by clamping it.

Further, a large groove through which the first clamper 3b passes is formed in the solid shaft center, and a flange portion is formed at the base and is fixed to the upper surface of the body 3d. In addition, a substantially L-shaped link 3f formed at approximately 65 degrees is rotatably supported by a pin 3h at the center of the body 3d, and one end of the link 3f is connected to the cylinder rod 3i of the cylinder 3e by the pin 3n. The other end is connected to the first clamper 3b by a pin 3p.

The first clamper 3b of the first pink ramp unit 3 is formed in a plate shape, the upper end is formed in a key shape, and further, a cam-shaped long hole 3g is formed in the center, and the pin 3k is passed through. Has been. As a result, with these configurations, there are an operation of storing in the first pin 3a and an operation of appearing from the position stored in the first pin 3a and holding the workpiece W while holding it on the shoulder 3s.

As shown in FIG. 1, the operation of the first drive means 6 for the X-axis is as follows. When a rotation command is input from the control device (not shown) to the servo motor 6a, the rotation of the servo motor 6a is toothed from the pulley 6e. through a belt 6f is transmitted to the pulley 6 _e ', it rotates only the ball screw 6b you equivalent to a preset predetermined moving distance. Further, the rotation of the ball screw 6b is converted into a horizontal movement by a nut block 6d screwed into the ball screw 6b, and a stay 3c (see FIG. 2) erected on the upper surface of the nut block 6d. Move the 1st pin 3a of the 1st pink ramp unit 3 in the X-axis direction by a predetermined distance. <Operation of second driving means>

As shown in FIG. 1, the air cylinder 7a of the second drive means 7 is supplied with air (0.5 MPa; hereinafter referred to as high pressure air! /,) Via an air piping path (not shown). The guide rail 7c is slidably moved to both sides, for example, 50mm by 100mm in total and brought into contact with the stoppers 7e and 7e. Therefore, the distance between the 2nd pin 4a and the 3rd pin 5a is set to 300mm force, et al. 400mm when applying the air cylinder 7a force, and set to 400mm force, et al. 300mm when shortening. The

The second driving means 7 may be a servo motor instead of the air cylinder. When driving the 2nd pin 4a and the 3rd pin 5a in the Y-axis direction with one servo motor, the specifications for one ball screw lead are the right screw and left screw, and the right screw on one end A right-handed screw nut is fitted to the other end, and a left-handed screw nut is fitted to the left-hand screw at the other end, and each nut and the slide nuts 7d and 7d are connected. When the Y-axis is a single ball screw and a single servo motor, the X-axis, Y-axis, Z1-axis, and Z2-axis are controlled by four axes.

Also, when the 2nd pin 4a and the 3rd pin 5a are driven in the Y-axis direction by 2 servo motors, provide 2 ball screws, fit the nuts to each, and slide each nut and slide nut. 7d and 7d may be connected. In this case, the Y1 axis and Y2 axis are driven by the servo motor, and the X axis, Y1 axis, Y2 axis, Z1 axis, and Z2 axis are controlled together.

[0022] <Operation of third driving means>

As shown in FIG. 3 (a), the operation of the third driving means 8 for the Z1 axis is the same as that of the third driving means 8 for the Ζ2-axis, and therefore the third driving means 8 for the Z1 axis will be described here. A description of the operation of the third drive means 8 ′ for the two-axis shaft is omitted.

The third driving means 8 for the Z1-axis is configured such that when a rotation command is input from the control device (not shown) to the servo motor 8a, the rotation of the servo motor 8a is transmitted from the pulley 8e through the toothed belt 8f to the pulley 8e. The ball screw 8b is rotated by an amount corresponding to the predetermined moving distance. Further, the rotation of the ball screw 8b is converted into a linear motion in the vertical direction by the nut block 8d screwed into the ball screw 8b, and the stay 4c (5c) standing on the side surface of the nut block 8d. And move the 2nd pin 4a of the 2nd pink lamper unit 4 in the Zl-axis direction by the predetermined movement distance. [0023] <Clamper operation of the pink lamper unit>

Next, the operation of the first clamper 3b built in the first pink ramp unit 3 will be described. As shown in FIG. 4, after the first pin 3a, the second pin 4a, and the third pin 5a are inserted into the three reference pin holes h3, h4, and h5 of the workpiece W, the control device (not shown) When the workpiece W clamp command is entered, the first pink ramp unit 3 is supplied with high-pressure air to the cylinder 3e, the cylinder rod 3i is retracted, and the link 3f connected by the pin 3n rotates about 15 degrees. Let As a result of this rotation, the first clamper 3b connected by the pin 3p is lowered by about 10 mm, appears outside the first pin 3a, and holds the workpiece W against the shoulder 3s of the first pin 3a. To do. Actually, the clampers 3b, 4b, and 5b of the first, second, and third pink lamper units 3, 4, and 5 start to move at the same time and pinch the workpiece W.

[0024] Fig. 5 shows the pin positions of the work hand device corresponding to the reference hole positions of various workpieces. (A) is a small right door, (b) is the same small left door, and (c) is The other left door, (d) is an explanatory view showing a large right door.

As shown in FIG. 5A, the three pin positions of the first pin 3a, the second pin 4a, and the third pin 5a are arranged so as to form an isosceles triangle.

As shown in FIG. 5 (b), the same small left door has a length of, for example, 300 mm and a length L of, for example, 500 mm, but as shown in FIG. 5 (c). For other left doors, length

2

For example, the length is 400 mm, and the length is, for example, 540 mm. This length L = 400

The force of 3 4 3 mm basically corresponds to a large door. Thus, some small doors are set to 400 mm. In addition, the reference pin holes h4 and h5 into which the second pin 4a or the third pin 5a is inserted may use the function hole of the door that is originally set, or may be provided for that purpose. .

As shown in Fig. 5 (d), this is a large right door. The force length is 400mm and the length is

3 5 For example, it is 705mm.

[0025] In addition, in the case of this small right door, although not shown, if the height of the first pin 3a in the Z-axis direction is used as a reference, for example, in the case of the right door (R), the second pin 4a is + 25mm, 3rd pin 5a is -25mm. In the case of the left door (L), the opposite is true, for example, the second pin 4a is -25 mm, and the third pin 5a is +25 mm. The movement distance in the Z-axis direction is ± 40mm. In addition, If the work hand device 1 according to claim 1 adopts a servo motor and a ball screw system for the second drive means 7, the positions of the first pin 3a, the second pin 4a, and the third pin 5a are as follows. It is easy to construct a triangle other than an isosceles triangle.

Thus, the servo motor 6a, which is the first drive means 6 shown in FIG. 1, is driven to move the first pink lamp unit 3 to a predetermined position in the X-axis direction, and the servo motor 6a has a built-in block. Clamp the position by rake or electronic lock. Further, the air cylinder 7a, which is the second driving means 7, is driven to move the second pink lamp unit 4 and the third pink lamp unit 5 in the Y-axis direction. Further, the third driving means 8, 8 shown in FIG. By driving each of the servo motors 8a and 8a and moving the second pink ramp unit 4 and the third pink ramp unit 5 in the Z1 axis and Z2 (vertical) direction by a predetermined distance, the doors of various sizes can be changed. Can be positioned in the reference pin holes h3, h4, h5. In addition, the right and left doors can be lifted alternately by instantaneous movement in the Z-axis direction by servo motors 8a and 8a. You can power to provide one. Furthermore, it is possible to provide a work hand device 1 that can be used for all types of vehicle doors.

If the work W model has been changed, change the specifications of the work hand device 1 while the work hand device 1 remains connected to the tip of the arm 21 of the robot 20 (see Fig. 11). Will be described.

In the first step, the mode of the robot 20 is switched from the production mode to the model change mode. Usually, the mode of the robot 20 is set to the production mode, and the robot 20 is normally operated by a program for producing a door. However, when the planned production quantity is reached, the setup is changed in accordance with the workpiece W of the next model. At this time, the mode is changed to the model change mode, that is, the setup change program, and the robot 20 performs a series of operations for the setup change of the work hand device 1.

In the second step, the second drive means 7 is moved in the Y-axis direction according to the positions of the preset reference pin holes h4, h5 (see FIG. 5) of the workpiece W, and the third drive means 8 is moved in the Z-axis direction. To move the second and third pink lamp unit units 4 and 5 provided with the second and third pins 4a and 5a. In the third step, the first pink lamp unit 3 provided with the reference first pin 3a is moved in the X-axis direction by driving the first drive means 6 in accordance with the position of the preset reference pin hole h3 of the workpiece W. Let

Here, the force S described in the order of the Y axis, the Z axis, and the X axis, and the order of the second and third steps may be other. Moreover, you may drive simultaneously by coaxial control.

The work hand device; ^ of the present invention will be described in detail. FIG. 6 is a plan view showing a work hand device according to a second embodiment of the present invention, and FIG. 7 is a front view thereof. As shown in FIGS. 6 and 7, the difference from the work hand device 1 described above is that the first fixing means 9 for fixing the position of the first pink ramp unit 3 in the X-axis direction to the first driving means 6 is as follows. Is provided. Therefore, the movement of the first pink ramp unit 3 in the X-axis direction is made possible by the cooperation of the fourth driving means 16 and 16 of the setup table and the first fixing means 9 described later.

Hereinafter, the difference from the work hand device 1 will be mainly described.

In the first fixing means 9, a bar 9d is arranged in the vicinity of the first pink lamp unit 1 in parallel with the X-axis direction, and the first brake unit 9a is attached to the bar 9d. The first brake unit 9a is connected to the first pink ramp unit 3. The brake of the first brake unit 9a is unlocked once it is supplied with high-pressure air and can be moved. When the high-pressure air is shut off, the brake is locked (fixed). As a result, the structure of the work hand device 1 becomes simpler as much as there is no drive device such as the servo motor 6a, and the work hand device 1 can be reduced in weight and cost. Such a configuration may be adopted.

[0029] <Setup table>

Here, the setup 10 will be described. Fig. 11 shows the arrangement of the setup table, a plan view showing the work hand device; ^ connected to the tip of the robot arm, Fig. 12 is an enlarged plan view, Fig. 13 is a front view, FIG. 14 is a right side view.

As shown in FIG. 11, the work hand device 1 ′ force S is connected to the tip of the arm 21 of the robot 20. In the vicinity of the robot 20, a setup table 10 used for setup of the work hand device 1 'is arranged. As shown in FIG. 12, the setup table 10 has a rectangular base 10g as a base and second and third pins 4a and 5a of the work hand apparatus 1 ', 1 "inserted into the reference pin to determine the position. Positioning blocks 10d and 10d having holes hi and h2 and reference pin holes hi and h2, positioning plates 10e and 10e, etc. The reference pin holes hi and h2 are provided at one end of the base 10g (see FIG. The positioning blocks 10d and 10d that determine the positions of the second and third pins 4a and 5a in the X, Υ, and Z directions have the reference pin holes hi and h2. Positioning plates 10e and 10e for determining and fixing the positions of the positioning blocks 10Od and 10d are arranged in the front-rear direction on the left side in the drawing.

[0030] As shown in FIG. 12, positioning blocks 10d and 10d for the second pin 4a and the third pin 5a are arranged for positioning the work hand device 1 ', and the positioning blocks 10d and 10d include a reference block. Pin holes hi and h2 are provided. The reference pin holes hi and h2 determine the positions of the second pin 4a and the third pin 5a in the Z-axis 2 direction. The positioning blocks 10d and 10d having the reference pin holes hi and h2 are fixed to the two positioning plates 10e and 10e, respectively. A number of holes are arranged in the positioning plates 10e and 10e. Positioning blocks 10d, lOd, 10d "are mounted by high-precision reamer bolts using two multi-holes of positioning plates 10e, 10e, and positioning blocks lOd, 10d are positioned.

[0031] The fourth driving means 16, 16 'are connected to the half blocks 10c, 10c that sandwich the first pin 3a, and the first pin 3a of the first pink ramp unit 3 is connected to the base 10g. It is a drive device that moves to the center and performs positioning in the X-axis direction.

The fourth drive means 16, 16 'includes an air cylinder 10a, 10a', a half block 10c, 10c 'to which the air cylinder 10a, 10a' is connected, and the half block 10c, 10c 'is the first pin. It comprises a guide rail 10b that movably guides by sandwiching 3a, and two slide nuts 10f, 1 Of ', and the like.

The air cylinders 10a, 10a 'of the fourth drive means 16, 16' are connected to the half blocks 10c, 10c, respectively, and the first pin 3a of the first pink ramp unit 3 is moved to the center of the base 10g. Perform positioning.

Note that the origin positions of the half blocks 10c and 10c 'are the half blocks shown by the two-dot chain line in FIG. It is the position of locks 10c, 10c 'and is the open (separated) position.

Further, a V-groove is formed on the contact surface of each of the half blocks 10c and 10c ′, and the first pin 3a is positioned by holding the first pin 3a with both side forces. Half blocks 10c and 10c 'are provided at the forward ends of the air cylinders 10a and 10a, and a forward end stopper is provided at the lower part (back) thereof.

The upper surface of the setup table 10 may be of the same servo motor 6a and ball screw 6b type as the first driving means 6 instead of the fourth driving means 16, 16 ′.

Since the description of the servo motor 6a and the ball screw 6b method overlaps, the fourth driving means 16 adopting another method, for example, an air cylinder method has been described here.

[0032] As shown in Fig. 5 (a), when the position of the reference pin hole of the door of the model change model is, for example, a small right door (L = 300mm, L = 500mm), it is shown in Fig. 12. So that these positions

1 2

The reference pin holes hi and h2 of the decision blocks 10d and 10d may be used.

As shown in Fig. 5 (d), it can be used for large right doors (L = 400mm, L = 705mm).

3 5

In this case, as shown in Fig. 12, a 400 mm pitch is

6

It is sufficient to use the reference pin holes hi, h2 ^/ provided in the positioning blocks 10d, 10d ".

Further, as shown in FIG. 14, the steps in the Z direction between the second pin 4a and the third pin 5a are H and H,

1 2 The numerical value varies depending on the model s, + on the left and right doors, and the opposite, but the absolute value is the same.

Workpiece device that performs setup of workpiece hand device 1 'while connected to the tip of arm 21 of workpiece hand device 1' power bot 20 when workpiece W is changed. This will be described with reference to FIGS. 6, 7, and 12. FIG.

In this setup method, the work hand device 1 ′ provided with the first brake unit 9a of the first fixing means 9 is connected to the first end of the arm 21 of the robot 20 to the first driving means 6 of the work hand device 1. This is a setup method in which the workpiece hand device 1 ′ is placed on the setup table 10 in a state where it is kept in place. Small right door (Ll = 300 mm, L2 = 500 mm) force shown in Fig. 5 (a), etc., setup change to large right door (L = 400 mm, L = 705 mm) shown in Fig. 5 (d) Will be described.

In the first step, the mode of the robot 20 is switched from the production mode to the model change mode. In the second step, the second driving means 7 and the third driving are performed in accordance with the positions of the reference pin holes hi ", Υι2" to the preset 300 mm force of the reference pin holes h4 and h4 of the workpiece W, 400 mm, etc. The second and third pin clamper units 4 and 5 provided with the second and third pins 4a and 5a are moved in the two axis directions of Υ and Z by driving the means 8 and 8 '.

In the third step, the robot 20 moves the workpiece hand device; ^ from the origin position to the setup table 10, and the workpiece hand device 1 'is positioned in the Y and Z directions of the setup table 10d with the pins facing downward. Insert the second and third pins 4a and 5a into the reference pin holes hi ", \ ι2" provided on the upper surface of ", 10ά".

According to the door specifications in this case, the positioning block 10d "is selected as the positioning block 10d" located 205mm away from the positioning block 10d in the X-axis direction. The posture is such that the first, second, and third pins 3a, 4a, and 5a are directed downward.

In the fourth step, the first fixing means 9 of the first pink ramp unit 3 is opened, and the air cylinders 10a, 10a of the fourth driving means 16 provided on the setup base 10 are driven to move the first pin in the X-axis direction. Move the first pin 3a of the clamper unit 3 to the center for positioning.

That is, the first pin 3a of the first pink ramp unit 3 is clamped by the half blocks 10c, 10c ′ of the air cylinders 10a, 10a ′, thereby being positioned at the central portion of the base 10g. This can be changed to L = 705mm.

Five

In the fifth step, the high pressure air to the first brake unit 9a of the first fixing means 9 is shut off to fix the first pink ramp unit 3 and the holding of the first pin 3a by the fourth driving means 16 is released. . In the operation of releasing the holding of the first pin 3a, the air cylinders 10a and 10a are driven and extended, and the half blocks 10c and 10c are separated to the positions indicated by the two-dot chain lines in FIG. In the sixth step, the robot 20 moves the work hand device; ^ from the setup 10 to the home position.

By following this procedure, the door shown in Fig. 5 (d) with L = 400mm and L = 705mm

3 5

It is possible to change the setup. <Third embodiment>

The work hand device T of the present invention will be described in detail. 8 is a plan view showing a work hand device according to a third embodiment of the present invention, FIG. 9 is a front view thereof, and FIG. 10 is a right side view thereof. Note that the first pink lamp unit 3 located in the center is omitted for easy understanding of the drawing.

The difference between the work hand device 1 ′ and the work hand device; T in the second embodiment described above is that Z (Z1 of the second pink ramp unit 4 of the work hand device 1 ′ is different as shown in FIGS. ) The third driving means 8 that moves in the axial direction is provided with the second fixing means 11 that fixes the position in the Z1 axial direction, and the second urging means 11c.

Further, the third fixing means 12 is provided in the third ′ driving means 8 ′ moving in the Z (Z2) axis direction of the third pink lamp unit 5, and the third urging means 12 c is provided.

As shown in FIG. 10, in the second fixing means 11, the second brake unit 11a is mounted on the second bar id, and the second fixing means 11 is a second one that urges in the direction of the tip of the Z1 axis parallel to the Z1 axis. Two second tension coil panels 11c which are urging means 1 lc are arranged in series.

Further, the third fixing means 12 is a third urging means 12c in which the third brake unit 12a is attached to the third bar 12d, and urges in the tip direction of the Z2 axis in parallel with the Z2 axis. Two third tension coil panels 12c are arranged in series.

As described above, the brakes of the second and third brake units 11a and 12a are locked (fixed) when high-pressure air is shut off, and when the high-pressure air is supplied, the locked state is released and can be moved. Become.

The two second tension coil springs 11c and 11c and the two third tension coil springs 12c and 12c may be a single tension coil panel connected by a connecting piece. Before releasing the brakes of the 2nd and 3rd brake units 11a and 12a, if the work hand device \ "is reversed and then the brakes are released, the 2nd and 3rd reference pins 4a and 5a In order to prepare for the case where it does not fall under its own weight due to the influence of friction, etc., the second and third tension coil panels 11c and 12c are forcedly biased to reliably The 2 pin 4a and the 3rd pin 5a move in the direction of the tip of the Z-axis as shown in Fig. 10. Then, the reference pin holes hi provided in the positioning blocks 10d and 10d of the setup table 10 By inserting the second and third pins 4a and 5a into the h2 and pressing them, the second and third pink lamp unit units 4 and 5 follow the height position of the reference pin holes hi and h2, Moves in the Z-axis direction against the urging force of the third tension coil panel 11c, 12c. Then, the high-pressure air to the second and third brake units 11a, 12a is shut off and locked by the brake.

Describes the setup method of the third embodiment in which the workpiece hand device 1 "is set up while it is connected to the tip of the arm 21 of the workpiece 21; To do.

In this setup method, the first driving means 6 of the work hand device 1 of the first embodiment is provided with first fixing means 9 for fixing the position of the first pink ramp unit 3 in the X-axis direction, The driving means 8 includes a second fixing means 11, a second fixing means 11 of the third fixing means 12, a setup method for changing the work hand device 1 "provided with the third brake units 11a, 12a and the tension coil springs 11c, 12c. Here, the large right door (L = 400 mm) shown in Fig. 5 (d).

3, L = 7

Five

From 05mm) to the small right door (L = 300mm, L = 500mm) shown in Fig. 5 (a)

1 5

This will be described in the case of replacement.

[0037] In the first step, the mode of the robot 20 is switched from the production mode to the model change mode.

In the second step, the second pin 4a is moved in the Y-axis direction by driving the second driving means 7 in order to change the 400 mm pitch to 300 mm in accordance with the positions of the preset reference pin holes h4 and h5 of the workpiece W. The second pink ramp unit 4 provided with the third pin clamper unit 5 provided with the third pin 5a is moved.

In the third step, the work hand device; the pin of T is turned downward, the brakes of the second and third brake units 11a and 12a of the second and third fixing means 11 and 12 are released, and the second pin 4a The third pin 5a is moved to the tip end of the Z-axis, that is, to the lower end by the urging force of the second and third tension coil panels 11c and 12c.

In the fourth step, the robot 20 moves the work hand device; T from the origin position to the setup table 10, and in the Y and Z directions of the setup table 10, the reference pin holes hi, provided on the upper surface of the positioning blocks 10d, 10d, By inserting and pressing the second and third pins 4a and 5a into h2, the second and third pink ramps of the second and third pins 3a and 4a are resisted against the urging force of the tension coil springs 11c and 12c. one Units 4 and 5 move in the Z-axis direction and change position.

In the fifth step, the positions of the second and third pink lamper units 4 and 5 are fixed by the second and third fixing means 11 and 12. In other words, when the supply of high-pressure air is cut off, braking force is generated and the positions of the second and third pink lamper units 4, 5 are locked (fixed).

The sixth step is to open the first fixing means 9 of the first pink ramp unit 3 and drive the fourth driving means 16 provided on the setup table 10 to move the first pin 3a in the X-axis direction. Change the position.

In the seventh step, the first pink lamp unit 1 is fixed by the first fixing means 9 and the holding of the first pin 3a by the fourth driving means 16 is released. As described above, the operation of releasing the clamping of the first pin 3a is performed by driving and extending the air cylinders 10a and 10a, and separating the half blocks 10c and 10c to the positions indicated by the two-dot chain lines in FIG. Let That is, the origin positions of the half blocks 10c and 10c ′ are the open (separated) positions.

In the eighth step, the robot 20 moves the work hand device; T from the setup table 10 to the home position.

By following this procedure, the small door L = 300mm, L = 500m shown in Fig. 5 (a)

Easy setup change to 15m specification.

[0038] In this way, the work hand device 1 "is moved from the origin position to the setup table 10 by the robot 20, and placed on the setup table 10, but the work hand device with respect to the setup table 10; T in the Z-axis direction The mounting position is the same for all types of vehicles, so that the Z-axis direction positions of the top surfaces of the positioning blocks 10d and 10d where the first and second contact surfaces of the second and third pins 4a and 5a abut are different. It is sufficient to prepare a positioning block and a positioning plate that are dedicated to each vehicle model.

The work transfer method of these work hand devices 1, \ ', \ "is the invention according to claim 4. In the work hand devices 1, \', \", the first pink ramp unit 3 and the second, second, 3Set the reference pin holes h3, h4, h5 on the workpiece W according to the movement range of each pink lamper unit 4, 5. And the first pink at the position of the reference pin holes h3, h4, h5 Position the lamp unit 3 and the second and third pink lamp unit 4 and 5 respectively, and connect the first, second, and third pins 3a, 4a, and 5a of each pink lamp unit to the reference pin hole h3, At the same time as inserting into h4 and h5, grip the workpiece W with the built-in clampers 3b, 4b and 5b and transport the workpiece W. This is a workpiece transfer method using the unprecedented workpiece hand device 1, 1 ', \ ".

[0040] In other words, the conventional work hand device is provided with a reference hole for positioning the door, but is not provided with a reference pin hole dedicated for conveyance, and uses various sizes of holes. Therefore, it was difficult to provide a highly versatile work hand device. Therefore, standardizing the standard pin hole for door conveyance that also serves as the positioning of the door at the door design stage, and providing a standardized standard pin hole, it has been! / The idea has made it possible to provide a new workpiece transfer method using a highly versatile workpiece hand device. This new work transfer method is based on the inner panel of the car model currently produced or produced in the past, and the trim board (set inside the door interior of the door) In the position that is hidden by the one with a pin or a pocket), the range of the other two 16-pin reference pin holes that fit within the standard 16-pin reference pin hole is thoroughly verified. The range of movement of each pink lamp unit of the equipment has been determined, and as a result, it will be possible to support many current models. In the future, new automobile doors will be introduced into the current automobile door production line. In this case, three φ16 reference pin holes are provided in the inner panel of a newly introduced automobile door in consideration of the range of movement of the pink lampper of the work hand device.

With this kind of work hand device 1 in the future, it is possible to create a new work hand device and to modify the existing work hand device used in the current automobile door production line. Even across the road, it has become possible to transfer workpieces to any model.

[0041] Also, the purpose of using ATC22 is the force that until now the work hand device was repeatedly detached and attached every time the model was changed. However, since the work hand device 1 may be damaged, maintained, or repaired, the ATC 22 It is used for the exchange work with the hand device 1. Further, when the work hand apparatus 1 ′, 1 ″ is placed on the setup table 10 and the setup change is completed, the half drive blocks 10c, 10c sandwich the first pin 3a by the fourth driving means 16, and the second With the third pins 3a, 4a supported by the positioning blocks 10d, 10 0d, the work hand device 1 ', V is disconnected from the robot 20, and the robot 20 is scheduled for other tasks, for example, certain vehicle types. ATC22 22b, which has been produced, is installed separately! /, And the welding jig and positioning jig are stored in the jig magazine, and the welding jig and positioning jig for the next production model are stored in the jig magazine. It is possible to take out the work and set it in a fixed position.

In addition, the work hand device 1 does not need to be placed on the setup table 10 for setup change, but the work hand device 1 is placed on the stand and the work hand device 1 is separated from the robot 20. It is also possible to change the jig as described above.

The present invention can be variously modified and changed within the scope of its technical idea. For example, although the first drive means 6 has been described as the servo motor 6a, it may be replaced with an actuator such as an air cylinder, a hydraulic cylinder, or a linear motor. Further, the second drive means 7 may be arranged with the force S described as the air cylinder 7a, and a servo motor may be arranged in place of the air cylinder 7a. Y, Z) may be replaced with a servo motor. Further, the third driving means 8, 8 are the force described as the servo motor 8a. This may be replaced with an actuator such as an air cylinder, a hydraulic cylinder, a linear motor, a rack, a pinion or the like. In this way, the first, second, and third drive means 6, 7, 8, 8 ′ may change the drive system as appropriate.

Here, the minimum number of pins to hold the workpiece W is the first, second, and third pins 3a, 4a, and 5a, but the other four pins according to the size and mass of the workpiece W. , 5 or more. Further, the reference pin holes h3, h4, h5 provided in the workpiece W are round holes adjusted to a pin diameter of 16 mm, but may be polygonal holes, and the size may be changed. In addition, the second urging means l lc and the third urging means 12c are the second and third tension coil panels 11c, 12c, but may be compression springs, gas springs, bumpers, air cylinders, etc. I do not care.

Industrial applicability In the automobile door manufacturing plant, the manufacturing process and manufacturing method for manufacturing doors (workpieces) such as right and left doors using the work hand device of the present invention! high. For example, the second pin and the third pin of the work hand device 1, 1 ′ of the present invention are respectively provided with the third driving means for positioning in the Z-axis direction, so that the second pin and the third pin are automatically arranged. The position can be changed, and it is possible to respond to the method of producing right-handed doors and left-handed doors alternately, that is, the most advanced production method of producing each unit.

In addition, the second and third pins of the work hand device of the present invention; T have second, third fixing means and second and third urging means for positioning in the Z-axis direction, respectively. This makes it possible to change the position of the 2nd pin and the 3rd pin by simply pressing the work hand device to the setup table once. Even in such a configuration, it is the most advanced production method for producing each unit. Yes.

Claims

The scope of the claims

[1] Connected to the tip of the arm (21) of the robot (20), and three first, second, and third pins (3a, 4a, 5a) are inserted into the reference pin holes provided on the workpiece (W). The first, second, and third clampers (3b, 4b, 5b) built in the first, second, and third pins (3a, 4a, 5a) are inserted and positioned at predetermined positions. A workpiece hand device (1) that appears and holds the workpiece (W), and conveys the workpiece (W) by turning and stretching of the arm (21),

A frame (2, 2a) serving as a base of the work hand device (1);

The first pin (3a) as a reference pin that is disposed on the frame (2) and positions the workpiece (W), and a first pin that is built in the first pin (3a) and holds the workpiece (W). A first pink ramp unit (3) having a clamper (3b);

The second pin (4a) as a reference pin that is disposed on the frame (2a) and positions the work (W), and a second pin (4a) that is built in the second pin (4a) and holds the work (W). A second pink ramp unit (4) having a clamper (4b);

A third pin (5a) that is arranged on the frame (2a) and positions the workpiece (W) and a third pin (5a) that is built in the third pin (5a) and holds the workpiece (W). A third pink lamper unit (5) having a clamper (5b);

First driving means (6) for determining the position of the first pink ramp unit (3) movably in the X-axis (left-right) direction;

A second driving means (7) for locating the second pink ramp unit (4) and the third pink ramp unit (5) movably in the Y-axis (front-rear) direction perpendicular to the X-axis;

Third drive means for locating the second pink ramp unit (4) and the third pink ramp unit (5) movably in the Z-axis (vertical) direction perpendicular to the X-axis and the vertical axis ( 8) and

A work hand device (1) characterized by comprising:

[2] The first drive means (6) includes a fourth drive means (16) provided with an air cylinder (10a) on a setup table (10) installed in the vicinity of the robot (20), and further includes an air The first pin clamper unit (3) is released from the fixed state by being supplied, and can be moved in the X-axis direction. When the air is shut off, the first pink ramp unit (3) is fixed in the X-axis direction. 1 Fixed hand The work hand device (1 ') according to claim 1, further comprising a step (9)

).

[3] The third driving means (8)

By supplying air, the fixed state of the second pink lamp unit (4) is released and it can move in the Z-axis direction, and the arm (21) of the robot (20) is pressed against the setup table (10), A second pin (4a) position of the second pink lamper unit (4) is configured to move, and a second fixed position in which the Z-axis direction of the second pink lamper unit (4) is fixed by shutting off air. 3. The work hand device (1) according to claim 2, further comprising means (11).

[4] In the work hand device (1, 1 ', \ "), the first pink ramp unit (3) and the second and third pink ramp unit (4, 5) are adjusted within the respective movement ranges. The workpiece (W) is provided with reference pin holes (h3, h4, h5), and the first pink ramp unit (3) and the second, second, second and second positions are located at the positions of the reference pin holes (h3, h4, h5). 3 Position the pink lamp unit (4, 5), and connect the first, second and third pins (3a, 4a, 5a) of each pink lamp unit to the reference pin holes (h3, h4, The workpiece (W) is gripped by the built-in clamper (3b, 4b, 5b) and transferred to the workpiece (W) at the same time as it is inserted into h5), and the workpiece (W) is conveyed. The workpiece transfer method using the force of item 3 and the workpiece hand device (1, 1 ', 1 ") of item 1.