WO2016016940A1 - Slider assembly device and slider assembly method - Google Patents

Slider assembly device and slider assembly method Download PDF

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Publication number
WO2016016940A1
WO2016016940A1 PCT/JP2014/069914 JP2014069914W WO2016016940A1 WO 2016016940 A1 WO2016016940 A1 WO 2016016940A1 JP 2014069914 W JP2014069914 W JP 2014069914W WO 2016016940 A1 WO2016016940 A1 WO 2016016940A1
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WO
WIPO (PCT)
Prior art keywords
slider
supply device
parts
cover member
lock member
Prior art date
Application number
PCT/JP2014/069914
Other languages
French (fr)
Japanese (ja)
Inventor
伊東　一良
克朗 岡部
和章 佐々木
貴仁 堀内
Original Assignee
Ykk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ykk株式会社 filed Critical Ykk株式会社
Priority to PCT/JP2014/069914 priority Critical patent/WO2016016940A1/en
Priority to CN201480079791.XA priority patent/CN106455770B/en
Priority to TW104124187A priority patent/TWI556761B/en
Publication of WO2016016940A1 publication Critical patent/WO2016016940A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44B—BUTTONS, PINS, BUCKLES, SLIDE FASTENERS, OR THE LIKE
    • A44B19/00—Slide fasteners
    • A44B19/42—Making by processes not fully provided for in one other class, e.g. B21D53/50, B21F45/18, B22D17/16, B29D5/00

Definitions

  • the present invention relates to a slider assembly apparatus and a slider assembly method for a slide fastener.
  • Conventional slider assembly equipment includes a turntable that is intermittently rotated to assemble the slider, a body supply device that supplies the slider body to each processing station of the turntable, and a slider puller that is supplied to the body at each processing station.
  • a puller supply device that performs the above operation and a lock member supply device that supplies a lock member of a slider to the body at each processing station (for example, see Patent Document 1).
  • the slider includes a cover member
  • the slider further includes a cover member supply device that supplies the cover member to the body at each processing station.
  • the present invention has been made in view of the above-described problems, and an object of the present invention is to reduce the number of parts to be replaced at the time of lot switching, to shorten the time required for lot switching, and to reduce the size of the slider assembly apparatus. It is an object of the present invention to provide a slider assembling apparatus and a slider assembling method that can be realized.
  • a slider assembling apparatus comprising: a caulking device that performs caulking.
  • the robot arm is a multi-axis robot arm having a plurality of rotation axes, and a robot hand is attached to a tip of the robot arm.
  • the robot hand includes a plurality of pick units that pick up a component of the slider, and the plurality of pick units include a suction nozzle that adsorbs the component or a gripper that grips the component, respectively (2 )
  • the slider assembling apparatus includes a plurality of pick units that pick up a component of the slider, and the plurality of pick units include a suction nozzle that adsorbs the component or a gripper that grips the component, respectively (2 )
  • the slider assembling apparatus includes a plurality of pick units that pick up a component of the slider, and the plurality of pick units include a suction nozzle that adsorbs the component or a gripper that grips the component, respectively
  • the plurality of component supply devices include a body supply device that supplies a body that is a slider component, a handle supply device that supplies a handle that is a slider component, and a lock member that supplies a lock member that is a slider component
  • a cover device supply device that supplies a supply device and a cover member that is a component of a slider, and the fuselage supply device includes a chute that slides down the fuselage, and a pickup stand that stops the fuselage that slides down the chute in a random orientation;
  • the puller supply device includes a chute that slides down the puller, and a pickup stand that stops the puller that slides down the chute in a random direction.
  • the lock member supply device slides the lock member in a predetermined posture.
  • a chute and a pick-up unit that stops the lock member sliding down the chute in a predetermined posture.
  • the apparatus includes a chute that slides down the cover member in a predetermined posture, and a pickup unit that stops the cover member that has slipped down the chute in a predetermined posture, and above the robot arm, a torso, a handle, a lock member, And a camera for detecting at least one position of the cover member.
  • (2) or (3) The slider assembly apparatus according to (4), further including an assembly station that sequentially assembles parts picked up or held by a plurality of pick units of the robot hand.
  • the slider assembly apparatus according to (5) or (6), further including a discharge unit that discharges the slider assembled at the assembly station.
  • the slider assembling apparatus according to any one of (4) to (7), wherein a camera for discriminating the front and back of the handle is provided on the pickup stand of the robot hand or the handle supply device.
  • a slider assembly method comprising:
  • a plurality of component supply devices that supply slider components of a slide fastener, a robot arm that picks up components from the plurality of component supply devices, an assembly station that assembles a slider by the robot arm, and an assembly station Since the slider includes a caulking device that performs caulking, the number of parts for aligning the slider parts in a predetermined posture can be reduced. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching. Further, since the slider is assembled by the robot arm, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device, and the slider assembly device is miniaturized. be able to.
  • a step of picking up a part from a plurality of parts supply devices that supply a slider part of a slide fastener by a robot arm, a step of assembling the part picked up by the robot arm, and a caulking process on the assembled slider And performing the finishing step the number of parts for aligning the parts of the slider in a predetermined posture can be reduced. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching. Further, since the slider is assembled by the robot arm, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device, and the slider assembly device is miniaturized. be able to.
  • FIG. 5 is a side view of the body pick portion shown in FIG. 4. It is another side view of the trunk
  • FIG. 9 is another side view of the handle pick portion shown in FIG. 8. It is a side view of the lock member pick part shown in FIG. FIG.
  • FIG. 11 is another side view of the lock member pick portion shown in FIG. 10. It is a side view of the cover member pick part shown in FIG. It is a partially cutaway side view for explaining a state in which the body pick unit sets the body to the assembly station. It is a partially notched side view explaining the state in which a pull pick part sets a pull handle to a trunk. It is a partially cutaway side view explaining the state in which the lock member pick part sets the lock member on the body. It is a partially cutaway side view explaining the state which a cover member pick part sets a cover member to a trunk
  • the upper side is the front side of the paper surface of FIG. 1
  • the lower side is the back side of the paper surface of FIG. 1
  • the front side is the paper surface of FIG.
  • the lower side and the rear side are the upper side with respect to the paper surface of FIG. 1
  • the left side is the left side with respect to the paper surface of FIG. 1
  • the right side is the right side with respect to the paper surface of FIG.
  • the upper side is the upper side of the paper surface of FIG. 3
  • the lower side is the lower side of the paper surface of FIG.
  • the front side is the right side of the paper surface of FIG. 3
  • the rear side is the paper surface of FIG.
  • the left side and the left side are the back side with respect to the paper surface of FIG. 3, and the right side is the front side with respect to the paper surface of FIG.
  • the slider assembling apparatus 10 is provided on a base 11 and a left side on the base 11, and a body supply apparatus 20 that supplies a body D that is a component of the slider S.
  • a puller supply device 30 that is provided on the front side of the base 11 and supplies a puller P that is a part of the slider S, and a lock member L that is provided on the right front side of the base 11 and is a part of the slider S.
  • a robot arm that picks up the body D, the handle P, the lock member L, and the cover member C from the body supply device 20, the handle supply device 30, the lock member supply device 40, and the cover member supply device 50 0 and an assembly station 70 provided on the rear side of the cover member supply device 50 and the robot arm 60 assembles the slider S, and a slider S provided on the rear side of the assembly station 70 and assembled at the assembly station 70.
  • a discharge unit 90 that discharges the slider S, which is provided on the right side of the assembly station 70 and is finished by caulking.
  • the slider S is a slider with an automatic stop function, and includes a body D, a handle P, a lock member L, and a cover member C as shown in FIG.
  • the fuselage D includes an upper wing plate D1 and a lower wing plate D2 that are spaced apart in parallel in the vertical direction, a guide column D3 that connects the upper wing plate D1 and the lower wing plate D2 at the front end, and an upper wing plate D1. And front and rear column portions D4 and D5 formed on the upper surface of the substrate. Further, a claw hole D6 for inserting the stop claw L1 of the lock member L is formed in the upper wing plate D1 so as to penetrate the upper wing plate D1 up and down.
  • the cover member C includes a top plate C1 that is curved upward and convex, a pair of left and right side plates C2 that extend downward from both side edges of the top plate C1, and an end plate C3 that extends downward from both longitudinal ends of the top plate C1. And having.
  • a handle accommodating recess C4 for accommodating the shaft portion P1 of the handle P is formed on the lower end surface of the center portion of the pair of left and right side plates C2.
  • a leaf spring SP for biasing the lock member L downward is provided in the cover member C, and the leaf spring SP is fixed to the convex portions C5 formed at both ends in the longitudinal direction of the top plate C1.
  • the cover member C is symmetric in the front-rear direction and in the left-right direction, and is not distinguished between the front-rear direction and the left-right direction.
  • the fuselage supply apparatus 20 has a drum 21 that discharges the fuselage D in a predetermined posture, a chute 22 that slides down the fuselage D that is discharged from the drum 21, and a slide down the chute 22.
  • a pickup base 23 having an upper surface 23a on which the body D stops.
  • the predetermined posture of the fuselage D is a state where the upper wing plate D1 faces upward.
  • the fuselage D discharged from the drum 21 slides down the chute 22 with the upper blade plate D1 facing upward, and stops at a random position on the upper surface 23a of the pickup table 23 (see FIGS. 6 and 7).
  • the front-rear and left-right directions of the body D are random. Therefore, the body supply device 20 does not need a device for aligning the body D in a predetermined posture.
  • the puller supply device 30 includes a chute 31 that slides down the puller P discharged from a hopper (not shown), and a pick-up base having an upper surface 32 a on which the puller P that has slipped down the chute 31 stops. 32.
  • the puller P that has slid down the chute 31 stops at a random position on the upper surface 32a of the pick-up table 32 regardless of the front and back of the puller P (see FIGS. 8 and 9). Further, the directions of the front, rear, left and right of the handle P are random. Therefore, the puller supply device 30 does not need a device for aligning the puller P in a predetermined posture.
  • the lock member supply device 40 is a vibration-type component supply device. As shown in FIG. 1, the lock member supply device 40 includes a component storage portion 41 in which a large number of lock members L are stored, and a lock member L in the component storage portion 41. A component conveying path 42 that is aligned and conveyed in a posture, and a chute 43 that is connected to the downstream end of the component conveying path 42 and slides down the plurality of lock members L in an aligned state. Then, the lock member L that has slid down the chute 43 stops at the pickup portion 43a at the downstream end of the chute 43 in a state in which the vertical, front-rear, left-right directions are positioned (see FIGS. 10 and 11).
  • the cover member supply device 50 includes a drum 51 that discharges the cover member C in a predetermined posture, and a chute 52 that slides the cover member C discharged from the drum 51 in a predetermined posture. Prepare. Then, the cover member C that has slipped down the chute 52 stops at the pickup portion 52a at the downstream end of the chute 52 in a state in which the vertical, front-rear, left-right directions are positioned (see FIG. 12).
  • the robot arm 60 is a six-axis robot arm having first to sixth rotation axes S1 to S6, and a robot hand 61 is attached to the tip of the sixth rotation axis S6. ing.
  • the slider assembling apparatus 10 is provided above the robot arm 60, and is located on the position of the body D on the upper surface 23 a of the pickup base 23 of the body supply apparatus 20 and on the upper surface 32 a of the pickup base 32 of the handle supply apparatus 30.
  • a component position detection camera 60a for detecting the position of the handle P is provided.
  • the component position detection camera 60 a is attached to the tip of a beam 60 b disposed above the robot arm 60, and this beam 60 b is supported by a column 60 c erected on the base 11 behind the robot arm 60. It is fixed at the top.
  • the robot hand 61 includes a body pick unit 62, a hand pick unit 63, a lock member pick unit 64, and a body member D, a handle P, a lock member L, and a cover member C.
  • a cover member pick part 65 is provided.
  • the body pick part 62, the pulling pick part 63, the lock member pick part 64, and the cover member pick part 65 are substantially 90 degrees on the lower surface of the base plate 61a attached to the sixth rotation axis S6 of the robot arm 60 when viewed from below. It is attached obliquely so as to open outward as it goes downward in the distance and side view.
  • the body pick part 62 and the cover member pick part 65 are arranged so as to face each other across the center part of the base plate 61a, and the pulling pick part 63 and the lock member pick part 64 also face each other across the center part of the base plate 61a. Are arranged to be.
  • a handle detection camera 66 for detecting the front and back of the handle P is attached to the center of the lower surface of the base plate 61a facing downward. Therefore, the pull detection camera 66 is disposed so as to be surrounded by the body pick portion 62, the pull pick portion 63, the lock member pick portion 64, and the cover member pick portion 65.
  • the body pick portion 62 includes a base portion 62a attached to the base plate 61a, a stay portion 62b extending downward from the base portion 62a, and a suction device 62c attached to the lower end of the stay portion 62b. .
  • a pair of suction nozzles 62d for sucking air and sucking the upper surface of the upper wing plate D1 of the fuselage D are provided on the lower surface of the suction device 62c.
  • the pair of suction nozzles 62d are arranged so as to adsorb left and right symmetrical positions across the column portions D4 and D5 on the upper surface of the upper blade D1.
  • the suction nozzle 62d is made of rubber or resin, and the tip of the suction nozzle 62d is recessed (depressed) by sucking air with the suction device 62c, thereby adsorbing the body D.
  • the pulling pick part 63 is provided on the base part 63a attached to the base plate 61a, the cylinder 63b attached to the lower end of the base part 63a, and the lower end surface of the cylinder 63b, and opens and closes left and right.
  • a gripper 63c for gripping the handle P is configured to grip the left and right side surfaces of the handle P.
  • the lock member pick part 64 is provided on the base part 64a attached to the base plate 61a, the cylinder 64b attached to the lower end of the base part 63a, and the lower end surface of the cylinder 64b.
  • a gripper 64c that opens and closes and holds the lock member L.
  • the gripper 64c is configured to grip the left and right side surfaces of the lock member L.
  • the cover member pick part 65 includes a base part 65a attached to the base plate 61a, a stay part 65b extending downward from the base part 65a, and a suction device 65c attached to the lower end of the stay part 65b.
  • a pair of suction nozzles 65d for sucking air and sucking the upper surface of the top plate C1 of the cover member C are provided on the lower surface of the suction device 65c.
  • the pair of suction nozzles 65d are arranged so as to adsorb symmetrical positions on both sides in the longitudinal direction of the upper surface of the top plate C1.
  • the suction nozzle 65d is made of rubber or resin, and the tip of the suction nozzle 65d is recessed (dented) and sucks the cover member C by sucking air with the suction device 65c.
  • the handle detection camera 66 is provided so as to surround the lens unit 66a of the handle detection camera 66, and includes an illumination unit 66b that irradiates the handle P with light.
  • the pull detection camera 66 may be installed not on the robot hand 61 but on the back side (lower side) of the pickup base 32 of the pull supply device 30. In this case, the light of the illumination unit 66b is irradiated from the back side of the pickup table 32, and the upper surface 32a of the pickup table 32 is illuminated to determine the front and back of the pull handle P.
  • the suction device 62 c of the body pick portion 62 and the suction device 65 c of the cover member pick portion 65 are connected by a substantially V-shaped reinforcing plate 67. For this reason, shaking of the body pick part 62 and the cover member pick part 65 accompanying the drive of the robot arm 60 can be suppressed.
  • the parts position detection camera 60 a detects the positions of the plurality of trunks D and the pullers P arranged in various directions on the upper surfaces 23 a and 32 a of the pickup stands 23 and 32, and rotates the robot arm 60.
  • the shaft and the rotation shaft of the robot hand 61 are rotated, and one of a plurality of parts (body D or puller P) is selected, picked up or gripped by the pick unit, and the parts are transferred to the assembly station 70.
  • the lock member L and the cover member C which are aligned in the same direction and slide down and stop, are positioned at the fixed positions of the lower ends of the chutes 43 and 52, so that the lock member L is detected by the component position detection camera 60a. It is not necessary to detect the position of the cover member C.
  • the body D and the cover member C are adsorbed by the pick unit, and the handle P and the lock member L are gripped by the pick unit.
  • the present invention is not limited to this, and the body D and the cover member C are picked.
  • the handle P and the lock member L may be adsorbed by the pick unit. Further, depending on the shapes of the body D, the cover member C, the pull handle P, and the lock member L, all of them may be adsorbed or may be gripped. That is, the combination of suction and grip of each component is free.
  • the robot arm 60 moves the robot hand 61 to an arbitrary position and an arbitrary angle by appropriately rotating the first to sixth rotation axes S1 to S6.
  • the position of the body D on the upper surface 23a of the pickup stand 23 of the body supply device 20 is detected by the component position detection camera 60a, and the body D is sucked by the suction device 62c of the body pick portion 62 of the robot hand 61 ( (Refer to FIG. 6 and FIG. 7).
  • the position of the handle P on the upper surface 32a of the pickup stand 32 of the handle supply device 30 is detected by the component position detection camera 60a, and the handle P is gripped by the gripper 63c of the handle pick part 63 of the robot hand 61 ( (See the pull-up picking process, FIG. 8 and FIG. 9).
  • the detection of the front and back of the handle P by the handle detection camera 66 is performed only when a logo, a mark, or the like is attached to the surface of the handle P and there is a distinction between the front and back.
  • cover member C in the pickup portion 52a of the chute 52 of the cover member supply device 50 is adsorbed by the suction device 65c of the cover member pick portion 65 of the robot hand 61 (cover member pickup step, see FIG. 12).
  • the body D, the handle P, and the lock member L are added to the body pick portion 62, the handle pick portion 63, the lock member pick portion 64, and the cover member pick portion 65 of the robot hand 61. And the cover member C are respectively held.
  • the body D is set in the assembly recess 71 of the assembly station 70 by the body pick section 62 of the robot hand 61 (see the body setting step, FIG. 13).
  • the shaft portion P1 of the pull handle P is set between the front and rear column portions D4 and D5 of the body D set in the assembly recess 71 by the pull pick portion 63 of the robot hand 61 (see pull setting step, see FIG. 14). Further, at this time, there is a distinction between the front and back of the pull handle P, and when the grip handle P is facing upward, the pull handle P is set and gripped on the post D5 side of the body D. When the back surface of the handle P faces upward, it is set on the front column part D4 side.
  • the lock member L is set on the body D set in the assembly recess 71 by the lock member pick part 64 of the robot hand 61 (see the lock member setting process, FIG. 15).
  • the cover member pick part 65 of the robot hand 61 is set so that the cover member C is placed on the front and rear column parts D4 and D5 of the body D set in the assembly recess 71 (see the cover member setting step, see FIG. 16). . Thereby, the temporary assembly of the slider S is completed.
  • the assembly station 70 moves along the rail 72, the temporarily assembled slider S is conveyed to the caulking device 80, and the caulking device 80 caulks the cover member C to the front and rear column portions D4 and D5 of the body D.
  • the slider S is finished (finishing process).
  • the assembly station 70 moves to the original position, and the finished slider S is discharged to the discharge unit 90.
  • the cover member C is attached to the body D by caulking the left and right side plates C2 to the column parts D4 and D5 before and after the body D.
  • symbol C6 in FIG. 3 is a crimping part of the side plate C2. Further, the cover member C may be attached to the body D by crimping the front and rear end face plates C3 to the front and rear column portions D4 and D5 of the body D.
  • the slider assembling method of the present embodiment includes the body D, the handle P, the lock member L, and the cover member C that are parts of the slider S, the body supply device 20, the handle supply device 30, and the like.
  • the robot arm 60 picks up parts from the lock member supply device 40 and the cover member supply device 50 (the body pickup process, the pulling pickup process, the lock member pickup process, and the cover member pickup process), and the robot arm 60 picks up the parts.
  • a process of assembling the parts body setting process, handle setting process, lock member setting process, and cover member setting process
  • a process of caulking and finishing the slider S assembled by the caulking device 80 is a process of caulking and finishing the slider S assembled by the caulking device 80.
  • the body supply device 20 that supplies the body D
  • the handle supply device 30 that supplies the handle P
  • cover member supply device 50 for supplying cover member C
  • body supply device 20 handle supply device 30, lock member supply device 40, and cover member supply device 50 to body D, handle P, lock member L
  • the assembly station 70 for assembling the slider S by the robot arm 60
  • the caulking device 80 for caulking the slider S assembled at the assembly station 70 are provided.
  • the number of parts that align the body D and the handle P in a predetermined posture is reduced. Can.
  • the slider S is assembled by the robot arm 60, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device. It can be downsized.
  • the body D, the handle P, the lock member L, and the cover member C that are parts of the slider S, the body supply device 20, the handle supply device 30, and the lock member supply device. 40, and a process of picking up parts from the cover member supply device 50 by the robot arm 60, a process of assembling the parts picked up by the robot arm 60, and a process of finishing the assembled slider S by caulking.
  • the number of parts for aligning the parts of the slider S in a predetermined posture can be reduced. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching.
  • the slider S since the slider S is assembled by the robot arm 60, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device. It can be downsized.
  • this invention is not limited to what was illustrated to the said embodiment, In the range which does not deviate from the summary of this invention, it can change suitably.
  • the slider with the automatic stop function is assembled, but the present invention is not limited to this, and a slider without the automatic stop function may be assembled. In this case, since the lock member is unnecessary, the lock member supply device may be removed or may be in a resting state.
  • the slider S provided with the cover member C was assembled, you may assemble the slider S shown in FIG. The slider S does not have the cover member C, and is used to fix the lock member L inserted into the front and rear column portions D4 and D5 of the body D by the front and rear column portions D4 and D5.
  • the same or equivalent portions of the slider S of FIG. 17 as those of the slider S of FIG. 3 are denoted by the same or equivalent reference numerals, and the description thereof is omitted or simplified.
  • Slider assembly device 20 Body supply device (component supply device) 22 chute 23 pick-up stand 30 handle supply device (component supply device) 31 Chute 32 Pickup stand 40 Lock member supply device (component supply device) 43 Chute 43a Pickup unit 50 Cover member supply device (component supply device) 52 Chute 52a Pickup part 60 Robot arm 60a Component position detection camera (camera) 61 Robot hand 62 Body pick part (pick part) 62d Suction nozzle 63 Picking pick part (pick part) 63c Gripper 64 Lock member pick part (pick part) 64c Gripper 65 Cover member pick part (pick part) 65d Suction nozzle 66 Catch detection camera (camera) 70 assembly station 71 assembly recess 80 caulking device 90 discharge section S slider D fuselage (part of slider) P Puller (Slider part) L Lock member (Slider part) C Cover member (Slider part)

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Abstract

Provided are: a slider assembly device that reduces the number of components replaced during lot switching and that makes it possible to shorten the time required for lot switching and reduce the size of a slider assembly device; and a slider assembly method. The slider assembly device is provided with: a plurality of component supply devices (20, 30, 40, 50) that supply components (D, P, L, C) for a slider (S) of a slide fastener; a robot arm (60) that picks up the components (D, P, L, C) from the plurality of component supply devices (20, 30, 40, 50); an assembly station (70) at which the robot arm (60) assembles the slider (S); and a swaging device (80) that performs swaging processing on the slider (S) that has been assembled at the assembly station (70).

Description

スライダー組立装置及びスライダー組立方法Slider assembling apparatus and slider assembling method
　この発明は、スライドファスナーのスライダー組立装置及びスライダー組立方法に関する。 The present invention relates to a slider assembly apparatus and a slider assembly method for a slide fastener.
　従来のスライダー組立装置としては、間欠的に回転されスライダーが組み立てられるターンテーブルと、ターンテーブルの各加工ステーションにスライダーの胴体を供給する胴体供給装置と、各加工ステーションにおいて胴体にスライダーの引手を供給する引手供給装置と、各加工ステーションにおいて胴体にスライダーのロック部材を供給するロック部材供給装置と、を備えるものが知られている（例えば、特許文献１参照）。また、スライダーがカバー部材を備える場合は、各加工ステーションにおいて胴体にカバー部材を供給するカバー部材供給装置を更に備える。 Conventional slider assembly equipment includes a turntable that is intermittently rotated to assemble the slider, a body supply device that supplies the slider body to each processing station of the turntable, and a slider puller that is supplied to the body at each processing station. There is known one having a puller supply device that performs the above operation and a lock member supply device that supplies a lock member of a slider to the body at each processing station (for example, see Patent Document 1). When the slider includes a cover member, the slider further includes a cover member supply device that supplies the cover member to the body at each processing station.
日本国実開昭６２－１０００１０号公報Japanese National Utility Model Publication No. 62-100010
　しかしながら、上記特許文献１に記載のスライダー組立装置では、各供給装置において胴体、引手、及びロック部材を所定の姿勢で整列させるため、組み立てるスライダーの種類を切り替える際（ロット切り替え時）に交換する部品が多く、ロット切り替えに時間が掛かり、小ロット生産には向いていなかった。また、整列された胴体、引手、及びロック部材をターンテーブルに供給するための駆動装置を各供給装置に設ける必要があるため、スライダー組立装置が大型化してしまっていた。 However, in the slider assembling apparatus described in Patent Document 1, in order to align the body, the puller, and the lock member in a predetermined posture in each supply apparatus, the parts to be replaced when the type of slider to be assembled is switched (at the time of lot switching). However, lot switching took time and was not suitable for small lot production. In addition, since it is necessary to provide each supply device with a drive device for supplying the aligned body, the handle, and the lock member to the turntable, the slider assembling device has been increased in size.
　本発明は、前述した課題に鑑みてなされたものであり、その目的は、ロット切り替え時に交換する部品を少なくして、ロット切り替えに掛かる時間を短縮することができ、また、スライダー組立装置を小型化することができるスライダー組立装置及びスライダー組立方法を提供することにある。 The present invention has been made in view of the above-described problems, and an object of the present invention is to reduce the number of parts to be replaced at the time of lot switching, to shorten the time required for lot switching, and to reduce the size of the slider assembly apparatus. It is an object of the present invention to provide a slider assembling apparatus and a slider assembling method that can be realized.
　本発明の上記目的は、下記の構成により達成される。
（１）スライドファスナーのスライダーの部品を供給する複数の部品供給装置と、複数の部品供給装置から部品をピックアップするロボットアームと、ロボットアームがスライダーを組み立てる組立ステーションと、組立ステーションで組み立てられたスライダーにかしめ加工を行うかしめ装置と、を備えることを特徴とするスライダー組立装置。
（２）ロボットアームは、複数の回転軸を有する多軸のロボットアームであり、ロボットアームの先端にロボットハンドが取り付けられることを特徴とする（１）に記載のスライダー組立装置。
（３）ロボットハンドは、スライダーの部品をピックアップする複数のピック部を備え、複数のピック部は、部品を吸着する吸引ノズル、又は、部品を把持するグリッパをそれぞれ備えることを特徴とする（２）に記載のスライダー組立装置。
（４）複数の部品供給装置は、スライダーの部品である胴体を供給する胴体供給装置と、スライダーの部品である引手を供給する引手供給装置と、スライダーの部品であるロック部材を供給するロック部材供給装置と、スライダーの部品であるカバー部材を供給するカバー部材供給装置であり、胴体供給装置は、胴体を滑り落とすシュートと、シュートを滑り落ちた胴体がランダムな向きに停止するピックアップ台と、を備え、引手供給装置は、引手を滑り落とすシュートと、シュートを滑り落ちた引手がランダムな向きに停止するピックアップ台と、を備え、ロック部材供給装置は、ロック部材を所定の姿勢で滑り落とすシュートと、シュートを滑り落ちたロック部材が所定の姿勢のまま停止するピックアップ部と、を備え、カバー部材供給装置は、カバー部材を所定の姿勢で滑り落とすシュートと、シュートを滑り落ちたカバー部材が所定の姿勢のまま停止するピックアップ部と、を備え、ロボットアームの上方に、胴体、引手、ロック部材、及びカバー部材の少なくとも１つの位置を検出するカメラを設けることを特徴とする（２）又は（３）に記載のスライダー組立装置。
（５）ロボットハンドの複数のピック部により吸着又は把持された部品を順次組み立てる組立ステーションを備えることを特徴とする（４）に記載のスライダー組立装置。
（６）組立ステーションは、胴体をセットする組立凹部を有することを特徴とする（５）に記載のスライダー組立装置。
（７）組立ステーションで組み立てられたスライダーを排出する排出部を備えることを特徴とする（５）又は（６）に記載のスライダー組立装置。
（８）ロボットハンド又は引手供給装置のピックアップ台に、引手の表裏を判別するカメラを設けることを特徴とする請求項（４）～（７）のいずれか１つに記載のスライダー組立装置。
（９）スライドファスナーのスライダーの部品を供給する複数の部品供給装置から部品をロボットアームでピックアップする工程と、ロボットアームでピックアップした部品を組み立てる工程と、組み立てられたスライダーにかしめ加工を行い仕上げる工程と、を備えることを特徴とするスライダー組立方法。 The above object of the present invention can be achieved by the following constitution.
(1) A plurality of component supply devices for supplying a slide fastener slider component, a robot arm for picking up components from the plurality of component supply devices, an assembly station for assembling the slider by the robot arm, and a slider assembled at the assembly station A slider assembling apparatus comprising: a caulking device that performs caulking.
(2) The slider assembly apparatus according to (1), wherein the robot arm is a multi-axis robot arm having a plurality of rotation axes, and a robot hand is attached to a tip of the robot arm.
(3) The robot hand includes a plurality of pick units that pick up a component of the slider, and the plurality of pick units include a suction nozzle that adsorbs the component or a gripper that grips the component, respectively (2 ) The slider assembling apparatus.
(4) The plurality of component supply devices include a body supply device that supplies a body that is a slider component, a handle supply device that supplies a handle that is a slider component, and a lock member that supplies a lock member that is a slider component A cover device supply device that supplies a supply device and a cover member that is a component of a slider, and the fuselage supply device includes a chute that slides down the fuselage, and a pickup stand that stops the fuselage that slides down the chute in a random orientation; The puller supply device includes a chute that slides down the puller, and a pickup stand that stops the puller that slides down the chute in a random direction. The lock member supply device slides the lock member in a predetermined posture. A chute and a pick-up unit that stops the lock member sliding down the chute in a predetermined posture. The apparatus includes a chute that slides down the cover member in a predetermined posture, and a pickup unit that stops the cover member that has slipped down the chute in a predetermined posture, and above the robot arm, a torso, a handle, a lock member, And a camera for detecting at least one position of the cover member. (2) or (3).
(5) The slider assembly apparatus according to (4), further including an assembly station that sequentially assembles parts picked up or held by a plurality of pick units of the robot hand.
(6) The slider assembly apparatus according to (5), wherein the assembly station includes an assembly recess for setting the body.
(7) The slider assembly apparatus according to (5) or (6), further including a discharge unit that discharges the slider assembled at the assembly station.
(8) The slider assembling apparatus according to any one of (4) to (7), wherein a camera for discriminating the front and back of the handle is provided on the pickup stand of the robot hand or the handle supply device.
(9) A step of picking up a component from a plurality of component supply devices that supply a slide fastener slider component, a step of assembling the component picked up by the robot arm, and a step of finishing the assembled slider by caulking A slider assembly method comprising:
　本発明によれば、スライドファスナーのスライダーの部品を供給する複数の部品供給装置と、複数の部品供給装置から部品をピックアップするロボットアームと、ロボットアームがスライダーを組み立てる組立ステーションと、組立ステーションで組み立てられたスライダーにかしめ加工を行うかしめ装置と、を備えるため、スライダーの部品を所定の姿勢で整列させる部品を少なくすることができる。このため、ロット切り替え時に交換する部品を少なくすることができ、ロット切り替えに掛かる時間を短縮することができる。また、ロボットアームでスライダーを組み立てるので、従来のスライダー組立装置と比較して、スライダーの部品をターンテーブルに供給するための駆動装置を各供給装置に設ける必要がなく、スライダー組立装置を小型化することができる。 According to the present invention, a plurality of component supply devices that supply slider components of a slide fastener, a robot arm that picks up components from the plurality of component supply devices, an assembly station that assembles a slider by the robot arm, and an assembly station Since the slider includes a caulking device that performs caulking, the number of parts for aligning the slider parts in a predetermined posture can be reduced. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching. Further, since the slider is assembled by the robot arm, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device, and the slider assembly device is miniaturized. be able to.
　本発明によれば、スライドファスナーのスライダーの部品を供給する複数の部品供給装置から部品をロボットアームでピックアップする工程と、ロボットアームでピックアップした部品を組み立てる工程と、組み立てられたスライダーにかしめ加工を行い仕上げる工程と、を備えるため、スライダーの部品を所定の姿勢で整列させる部品を少なくすることができる。このため、ロット切り替え時に交換する部品を少なくすることができ、ロット切り替えに掛かる時間を短縮することができる。また、ロボットアームでスライダーを組み立てるので、従来のスライダー組立装置と比較して、スライダーの部品をターンテーブルに供給するための駆動装置を各供給装置に設ける必要がなく、スライダー組立装置を小型化することができる。 According to the present invention, a step of picking up a part from a plurality of parts supply devices that supply a slider part of a slide fastener by a robot arm, a step of assembling the part picked up by the robot arm, and a caulking process on the assembled slider And performing the finishing step, the number of parts for aligning the parts of the slider in a predetermined posture can be reduced. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching. Further, since the slider is assembled by the robot arm, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device, and the slider assembly device is miniaturized. be able to.
本発明に係るスライダー組立装置の一実施形態を説明する概略上面図である。It is a schematic top view explaining one Embodiment of the slider assembly apparatus based on this invention. 図１に示すスライダー組立装置の概略側面図である。It is a schematic side view of the slider assembly apparatus shown in FIG. 本発明に係るスライダー組立装置で組み立てられるスライダーを説明する断面図である。It is sectional drawing explaining the slider assembled with the slider assembly apparatus based on this invention. 図２に示すロボットハンドを下方から見た斜視図である。It is the perspective view which looked at the robot hand shown in FIG. 2 from the downward direction. 図２に示すロボットハンドを下方から見た他の斜視図である。It is the other perspective view which looked at the robot hand shown in Drawing 2 from the lower part. 図４に示す胴体ピック部の側面図である。FIG. 5 is a side view of the body pick portion shown in FIG. 4. 図６に示す胴体ピック部の他の側面図である。It is another side view of the trunk | drum pick part shown in FIG. 図４に示す引手ピック部の側面図である。It is a side view of the handle pick part shown in FIG. 図８に示す引手ピック部の他の側面図である。FIG. 9 is another side view of the handle pick portion shown in FIG. 8. 図５に示すロック部材ピック部の側面図である。It is a side view of the lock member pick part shown in FIG. 図１０に示すロック部材ピック部の他の側面図である。FIG. 11 is another side view of the lock member pick portion shown in FIG. 10. 図５に示すカバー部材ピック部の側面図である。It is a side view of the cover member pick part shown in FIG. 胴体ピック部が胴体を組立ステーションにセットする状態を説明する一部切欠側面図である。It is a partially cutaway side view for explaining a state in which the body pick unit sets the body to the assembly station. 引手ピック部が引手を胴体にセットする状態を説明する一部切欠側面図である。It is a partially notched side view explaining the state in which a pull pick part sets a pull handle to a trunk. ロック部材ピック部がロック部材を胴体にセットする状態を説明する一部切欠側面図である。It is a partially cutaway side view explaining the state in which the lock member pick part sets the lock member on the body. カバー部材ピック部がカバー部材を胴体にセットする状態を説明する一部切欠側面図である。It is a partially cutaway side view explaining the state which a cover member pick part sets a cover member to a trunk | drum. 本発明に係るスライダー組立装置で組み立てられるスライダーの他の例を説明する側面図である。It is a side view explaining the other example of the slider assembled with the slider assembly apparatus based on this invention.
　以下、本発明に係るスライダー組立装置及びスライダーの組立方法の一実施形態について、図面に基づいて詳細に説明する。なお、以後の説明において、スライダー組立装置に関しては、上側とは図１の紙面に対して手前側、下側とは図１の紙面に対して奥側、前側とは図１の紙面に対して下側、後側とは図１の紙面に対して上側、左側とは図１の紙面に対して左側、右側とは図１の紙面に対して右側とする。スライダーに関しては、上側とは図３の紙面に対して上側、下側とは図３の紙面に対して下側、前側とは図３の紙面に対して右側、後側とは図３の紙面に対して左側、左側とは図３の紙面に対して奥側、右側とは図３の紙面に対して手前側とする。 Hereinafter, an embodiment of a slider assembling apparatus and a slider assembling method according to the present invention will be described in detail based on the drawings. In the following description, regarding the slider assembling apparatus, the upper side is the front side of the paper surface of FIG. 1, the lower side is the back side of the paper surface of FIG. 1, and the front side is the paper surface of FIG. The lower side and the rear side are the upper side with respect to the paper surface of FIG. 1, the left side is the left side with respect to the paper surface of FIG. 1, and the right side is the right side with respect to the paper surface of FIG. Regarding the slider, the upper side is the upper side of the paper surface of FIG. 3, the lower side is the lower side of the paper surface of FIG. 3, the front side is the right side of the paper surface of FIG. 3, and the rear side is the paper surface of FIG. The left side and the left side are the back side with respect to the paper surface of FIG. 3, and the right side is the front side with respect to the paper surface of FIG.
　本実施形態のスライダー組立装置１０は、図１及び図２に示すように、基台１１と、基台１１上の左側に設けられ、スライダーＳの部品である胴体Ｄを供給する胴体供給装置２０と、基台１１上の前側に設けられ、スライダーＳの部品である引手Ｐを供給する引手供給装置３０と、基台１１上の右前側に設けられ、スライダーＳの部品であるロック部材Ｌを供給するロック部材供給装置４０と、ロック部材供給装置４０の後側に設けられ、スライダーＳの部品であるカバー部材Ｃを供給するカバー部材供給装置５０と、基台１１上の略中央に設けられ、胴体供給装置２０、引手供給装置３０、ロック部材供給装置４０、及びカバー部材供給装置５０から胴体Ｄ、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃをピックアップするロボットアーム６０と、カバー部材供給装置５０の後側に設けられ、ロボットアーム６０がスライダーＳを組み立てる組立ステーション７０と、組立ステーション７０の後側に設けられ、組立ステーション７０で組み立てられたスライダーＳにかしめ加工を行うかしめ装置８０と、組立ステーション７０の右側に設けられ、かしめ加工により仕上げられたスライダーＳを排出する排出部９０と、を備える。 As shown in FIGS. 1 and 2, the slider assembling apparatus 10 according to the present embodiment is provided on a base 11 and a left side on the base 11, and a body supply apparatus 20 that supplies a body D that is a component of the slider S. A puller supply device 30 that is provided on the front side of the base 11 and supplies a puller P that is a part of the slider S, and a lock member L that is provided on the right front side of the base 11 and is a part of the slider S. A lock member supply device 40 for supplying, a cover member supply device 50 for supplying a cover member C, which is a component of the slider S, provided on the rear side of the lock member supply device 40, and a substantially center on the base 11. , A robot arm that picks up the body D, the handle P, the lock member L, and the cover member C from the body supply device 20, the handle supply device 30, the lock member supply device 40, and the cover member supply device 50 0 and an assembly station 70 provided on the rear side of the cover member supply device 50 and the robot arm 60 assembles the slider S, and a slider S provided on the rear side of the assembly station 70 and assembled at the assembly station 70. And a discharge unit 90 that discharges the slider S, which is provided on the right side of the assembly station 70 and is finished by caulking.
　ここで、本実施形態のスライダー組立装置１０で組み立てられるスライドファスナーのスライダーＳについて説明する。このスライダーＳは、自動停止機能付きのスライダーであって、図３に示すように、胴体Ｄ、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃから構成されている。 Here, the slider S of the slide fastener assembled by the slider assembling apparatus 10 of this embodiment will be described. The slider S is a slider with an automatic stop function, and includes a body D, a handle P, a lock member L, and a cover member C as shown in FIG.
　胴体Ｄは、上下方向に離間して並行に配置される上翼板Ｄ１及び下翼板Ｄ２と、上翼板Ｄ１及び下翼板Ｄ２を前端部において連結する案内柱Ｄ３と、上翼板Ｄ１の上面に形成される前後の柱部Ｄ４，Ｄ５と、を有する。また、上翼板Ｄ１には、ロック部材Ｌの停止爪Ｌ１を挿入させる爪孔Ｄ６が、上翼板Ｄ１を上下に貫通するように形成されている。 The fuselage D includes an upper wing plate D1 and a lower wing plate D2 that are spaced apart in parallel in the vertical direction, a guide column D3 that connects the upper wing plate D1 and the lower wing plate D2 at the front end, and an upper wing plate D1. And front and rear column portions D4 and D5 formed on the upper surface of the substrate. Further, a claw hole D6 for inserting the stop claw L1 of the lock member L is formed in the upper wing plate D1 so as to penetrate the upper wing plate D1 up and down.
　カバー部材Ｃは、上向きに凸状に湾曲した天板Ｃ１と、天板Ｃ１の両側縁から下方に延びる左右一対の側面板Ｃ２と、天板Ｃ１の長手方向両端から下方にそれぞれ延びる端面板Ｃ３と、を有する。また、左右一対の側面板Ｃ２の中央部の下端面には、引手Ｐの軸部Ｐ１を収容する引手収容凹部Ｃ４がそれぞれ形成されている。また、カバー部材Ｃ内には、ロック部材Ｌを下方に付勢する板ばねＳＰが設けられており、この板ばねＳＰは、天板Ｃ１の長手方向両端にそれぞれ形成される凸部Ｃ５に固定されている。なお、カバー部材Ｃは、前後対称及び左右対称であり、前後及び左右に区別はない。 The cover member C includes a top plate C1 that is curved upward and convex, a pair of left and right side plates C2 that extend downward from both side edges of the top plate C1, and an end plate C3 that extends downward from both longitudinal ends of the top plate C1. And having. In addition, a handle accommodating recess C4 for accommodating the shaft portion P1 of the handle P is formed on the lower end surface of the center portion of the pair of left and right side plates C2. Further, a leaf spring SP for biasing the lock member L downward is provided in the cover member C, and the leaf spring SP is fixed to the convex portions C5 formed at both ends in the longitudinal direction of the top plate C1. Has been. The cover member C is symmetric in the front-rear direction and in the left-right direction, and is not distinguished between the front-rear direction and the left-right direction.
　胴体供給装置２０は、図１及び図２に示すように、胴体Ｄを所定の姿勢で排出するドラム２１と、ドラム２１から排出された胴体Ｄを滑り落とすシュート２２と、シュート２２を滑り落ちた胴体Ｄが停止する上面２３ａを有するピックアップ台２３と、を備える。また、胴体Ｄの所定の姿勢とは、上翼板Ｄ１が上方を向いた状態のことである。そして、ドラム２１から排出された胴体Ｄは、上翼板Ｄ１が上方を向いた状態ままシュート２２を滑り落ち、ピックアップ台２３の上面２３ａのランダムな位置に停止する（図６及び図７参照）。また、胴体Ｄの前後左右の向きはランダムである。従って、胴体供給装置２０には、胴体Ｄを所定の姿勢で整列させる装置は不要である。 As shown in FIGS. 1 and 2, the fuselage supply apparatus 20 has a drum 21 that discharges the fuselage D in a predetermined posture, a chute 22 that slides down the fuselage D that is discharged from the drum 21, and a slide down the chute 22. A pickup base 23 having an upper surface 23a on which the body D stops. The predetermined posture of the fuselage D is a state where the upper wing plate D1 faces upward. The fuselage D discharged from the drum 21 slides down the chute 22 with the upper blade plate D1 facing upward, and stops at a random position on the upper surface 23a of the pickup table 23 (see FIGS. 6 and 7). . Also, the front-rear and left-right directions of the body D are random. Therefore, the body supply device 20 does not need a device for aligning the body D in a predetermined posture.
　引手供給装置３０は、図１及び図２に示すように、不図示のホッパーから排出された引手Ｐを滑り落とすシュート３１と、シュート３１を滑り落ちた引手Ｐが停止する上面３２ａを有するピックアップ台３２と、を備える。そして、シュート３１を滑り落ちた引手Ｐは、引手Ｐの表裏に関係なく、ピックアップ台３２の上面３２ａのランダムな位置に停止する（図８及び図９参照）。また、引手Ｐの前後左右の向きはランダムである。従って、引手供給装置３０には、引手Ｐを所定の姿勢で整列させる装置は不要である。 As shown in FIGS. 1 and 2, the puller supply device 30 includes a chute 31 that slides down the puller P discharged from a hopper (not shown), and a pick-up base having an upper surface 32 a on which the puller P that has slipped down the chute 31 stops. 32. The puller P that has slid down the chute 31 stops at a random position on the upper surface 32a of the pick-up table 32 regardless of the front and back of the puller P (see FIGS. 8 and 9). Further, the directions of the front, rear, left and right of the handle P are random. Therefore, the puller supply device 30 does not need a device for aligning the puller P in a predetermined posture.
　ロック部材供給装置４０は、振動型の部品供給装置であり、図１に示すように、多数のロック部材Ｌが収容される部品収容部４１と、部品収容部４１内のロック部材Ｌを所定の姿勢で整列させて搬送する部品搬送路４２と、部品搬送路４２の下流端に接続され、複数のロック部材Ｌを整列状態のままで滑り落とすシュート４３と、を備える。そして、シュート４３を滑り落ちたロック部材Ｌは、その上下前後左右の向きが位置決めされた状態で、シュート４３の下流端のピックアップ部４３ａに停止する（図１０及び図１１参照）。 The lock member supply device 40 is a vibration-type component supply device. As shown in FIG. 1, the lock member supply device 40 includes a component storage portion 41 in which a large number of lock members L are stored, and a lock member L in the component storage portion 41. A component conveying path 42 that is aligned and conveyed in a posture, and a chute 43 that is connected to the downstream end of the component conveying path 42 and slides down the plurality of lock members L in an aligned state. Then, the lock member L that has slid down the chute 43 stops at the pickup portion 43a at the downstream end of the chute 43 in a state in which the vertical, front-rear, left-right directions are positioned (see FIGS. 10 and 11).
　カバー部材供給装置５０は、図１に示すように、カバー部材Ｃを所定の姿勢で排出するドラム５１と、ドラム５１から排出されたカバー部材Ｃを所定の姿勢のまま滑り落とすシュート５２と、を備える。そして、シュート５２を滑り落ちたカバー部材Ｃは、その上下前後左右の向きが位置決めされた状態で、シュート５２の下流端のピックアップ部５２ａに停止する（図１２参照）。 As shown in FIG. 1, the cover member supply device 50 includes a drum 51 that discharges the cover member C in a predetermined posture, and a chute 52 that slides the cover member C discharged from the drum 51 in a predetermined posture. Prepare. Then, the cover member C that has slipped down the chute 52 stops at the pickup portion 52a at the downstream end of the chute 52 in a state in which the vertical, front-rear, left-right directions are positioned (see FIG. 12).
　ロボットアーム６０は、図１及び図２に示すように、第１～第６回転軸Ｓ１～Ｓ６を有する６軸のロボットアームであり、第６回転軸Ｓ６の先端部にロボットハンド６１が取り付けられている。 As shown in FIGS. 1 and 2, the robot arm 60 is a six-axis robot arm having first to sixth rotation axes S1 to S6, and a robot hand 61 is attached to the tip of the sixth rotation axis S6. ing.
　また、スライダー組立装置１０は、ロボットアーム６０よりも上方に設けられ、胴体供給装置２０のピックアップ台２３の上面２３ａにある胴体Ｄの位置と、引手供給装置３０のピックアップ台３２の上面３２ａにある引手Ｐの位置を検出する部品位置検出カメラ６０ａを備える。この部品位置検出カメラ６０ａは、ロボットアーム６０の上方に配置される梁６０ｂの先端に取り付けられており、この梁６０ｂは、ロボットアーム６０の後方の基台１１上に立設される支柱６０ｃの上部に固定されている。 The slider assembling apparatus 10 is provided above the robot arm 60, and is located on the position of the body D on the upper surface 23 a of the pickup base 23 of the body supply apparatus 20 and on the upper surface 32 a of the pickup base 32 of the handle supply apparatus 30. A component position detection camera 60a for detecting the position of the handle P is provided. The component position detection camera 60 a is attached to the tip of a beam 60 b disposed above the robot arm 60, and this beam 60 b is supported by a column 60 c erected on the base 11 behind the robot arm 60. It is fixed at the top.
　ロボットハンド６１は、図４及び図５に示すように、胴体Ｄ、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃをそれぞれピックアップする胴体ピック部６２、引手ピック部６３、ロック部材ピック部６４、及びカバー部材ピック部６５を備える。 As shown in FIGS. 4 and 5, the robot hand 61 includes a body pick unit 62, a hand pick unit 63, a lock member pick unit 64, and a body member D, a handle P, a lock member L, and a cover member C. A cover member pick part 65 is provided.
　そして、胴体ピック部６２、引手ピック部６３、ロック部材ピック部６４、及びカバー部材ピック部６５は、ロボットアーム６０の第６回転軸Ｓ６に取り付けられるベースプレート６１ａの下面に、下方視において略９０度間隔且つ側面視において下方に向かうに従って外側に開くように斜めに取り付けられている。また、胴体ピック部６２とカバー部材ピック部６５はベースプレート６１ａの中心部を挟んで互いに対向するように配置され、引手ピック部６３とロック部材ピック部６４もベースプレート６１ａの中心部を挟んで互いに対向するように配置されている。 The body pick part 62, the pulling pick part 63, the lock member pick part 64, and the cover member pick part 65 are substantially 90 degrees on the lower surface of the base plate 61a attached to the sixth rotation axis S6 of the robot arm 60 when viewed from below. It is attached obliquely so as to open outward as it goes downward in the distance and side view. The body pick part 62 and the cover member pick part 65 are arranged so as to face each other across the center part of the base plate 61a, and the pulling pick part 63 and the lock member pick part 64 also face each other across the center part of the base plate 61a. Are arranged to be.
　さらに、ベースプレート６１ａの下面の中心部には、引手Ｐの表裏を検出する引手検出カメラ６６が下方に向けて取り付けられている。従って、引手検出カメラ６６は、胴体ピック部６２、引手ピック部６３、ロック部材ピック部６４、及びカバー部材ピック部６５に囲まれるように配置されている。 Furthermore, a handle detection camera 66 for detecting the front and back of the handle P is attached to the center of the lower surface of the base plate 61a facing downward. Therefore, the pull detection camera 66 is disposed so as to be surrounded by the body pick portion 62, the pull pick portion 63, the lock member pick portion 64, and the cover member pick portion 65.
　胴体ピック部６２は、図６及び図７に示すように、ベースプレート６１ａに取り付けられるベース部６２ａと、ベース部６２ａから下方に延びるステー部６２ｂと、ステー部６２ｂの下端に取り付けられる吸引装置６２ｃと、を備える。そして、吸引装置６２ｃの下面には、空気を吸引して胴体Ｄの上翼板Ｄ１の上面を吸着する一対の吸引ノズル６２ｄが設けられている。また、一対の吸引ノズル６２ｄは、上翼板Ｄ１の上面の柱部Ｄ４，Ｄ５を挟んだ左右対称位置を吸着するように配置されている。なお、吸引ノズル６２ｄは、ゴムや樹脂製であり、吸引装置６２ｃで空気を吸引することにより吸引ノズル６２ｄの先端が凹み（窪み）、胴体Ｄを吸着する。 As shown in FIGS. 6 and 7, the body pick portion 62 includes a base portion 62a attached to the base plate 61a, a stay portion 62b extending downward from the base portion 62a, and a suction device 62c attached to the lower end of the stay portion 62b. . A pair of suction nozzles 62d for sucking air and sucking the upper surface of the upper wing plate D1 of the fuselage D are provided on the lower surface of the suction device 62c. Further, the pair of suction nozzles 62d are arranged so as to adsorb left and right symmetrical positions across the column portions D4 and D5 on the upper surface of the upper blade D1. The suction nozzle 62d is made of rubber or resin, and the tip of the suction nozzle 62d is recessed (depressed) by sucking air with the suction device 62c, thereby adsorbing the body D.
　引手ピック部６３は、図８及び図９に示すように、ベースプレート６１ａに取り付けられるベース部６３ａと、ベース部６３ａの下端に取り付けられるシリンダ６３ｂと、シリンダ６３ｂの下端面に設けられ、左右に開閉して引手Ｐを把持するグリッパ６３ｃと、を備える。なお、グリッパ６３ｃは、引手Ｐの左右側面を把持するように構成されている。 As shown in FIGS. 8 and 9, the pulling pick part 63 is provided on the base part 63a attached to the base plate 61a, the cylinder 63b attached to the lower end of the base part 63a, and the lower end surface of the cylinder 63b, and opens and closes left and right. And a gripper 63c for gripping the handle P. The gripper 63c is configured to grip the left and right side surfaces of the handle P.
　ロック部材ピック部６４は、図１０及び図１１に示すように、ベースプレート６１ａに取り付けられるベース部６４ａと、ベース部６３ａの下端に取り付けられるシリンダ６４ｂと、シリンダ６４ｂの下端面に設けられ、左右に開閉してロック部材Ｌを把持するグリッパ６４ｃと、を備える。なお、グリッパ６４ｃは、ロック部材Ｌの左右側面を把持するように構成されている。 As shown in FIGS. 10 and 11, the lock member pick part 64 is provided on the base part 64a attached to the base plate 61a, the cylinder 64b attached to the lower end of the base part 63a, and the lower end surface of the cylinder 64b. A gripper 64c that opens and closes and holds the lock member L. The gripper 64c is configured to grip the left and right side surfaces of the lock member L.
　カバー部材ピック部６５は、図１２に示すように、ベースプレート６１ａに取り付けられるベース部６５ａと、ベース部６５ａから下方に延びるステー部６５ｂと、ステー部６５ｂの下端に取り付けられる吸引装置６５ｃと、を備える。そして、吸引装置６５ｃの下面には、空気を吸引してカバー部材Ｃの天板Ｃ１の上面を吸着する一対の吸引ノズル６５ｄが設けられている。また、一対の吸引ノズル６５ｄは、天板Ｃ１の上面の長手方向両側の対称位置を吸着するように配置されている。なお、吸引ノズル６５ｄは、ゴムや樹脂製であり、吸引装置６５ｃで空気を吸引することにより吸引ノズル６５ｄの先端が凹み（窪み）、カバー部材Ｃを吸着する。 As shown in FIG. 12, the cover member pick part 65 includes a base part 65a attached to the base plate 61a, a stay part 65b extending downward from the base part 65a, and a suction device 65c attached to the lower end of the stay part 65b. Prepare. A pair of suction nozzles 65d for sucking air and sucking the upper surface of the top plate C1 of the cover member C are provided on the lower surface of the suction device 65c. Further, the pair of suction nozzles 65d are arranged so as to adsorb symmetrical positions on both sides in the longitudinal direction of the upper surface of the top plate C1. The suction nozzle 65d is made of rubber or resin, and the tip of the suction nozzle 65d is recessed (dented) and sucks the cover member C by sucking air with the suction device 65c.
　引手検出カメラ６６は、図４及び図５に示すように、引手検出カメラ６６のレンズ部６６ａを囲むようにして設けられ、引手Ｐに光を照射する照明部６６ｂを備える。なお、引手検出カメラ６６は、ロボットハンド６１ではなく、引手供給装置３０のピックアップ台３２の裏側（下側）に設置されていてもよい。この場合、ピックアップ台３２の裏側から照明部６６ｂの光を照射し、ピックアップ台３２の上面３２ａを照らして、引手Ｐの表裏を判別する。 4 and 5, the handle detection camera 66 is provided so as to surround the lens unit 66a of the handle detection camera 66, and includes an illumination unit 66b that irradiates the handle P with light. The pull detection camera 66 may be installed not on the robot hand 61 but on the back side (lower side) of the pickup base 32 of the pull supply device 30. In this case, the light of the illumination unit 66b is irradiated from the back side of the pickup table 32, and the upper surface 32a of the pickup table 32 is illuminated to determine the front and back of the pull handle P.
　また、図４に示すように、胴体ピック部６２の吸引装置６２ｃとカバー部材ピック部６５の吸引装置６５ｃとの間は略Ｖ字状の補強プレート６７により連結されている。このため、ロボットアーム６０の駆動に伴う胴体ピック部６２とカバー部材ピック部６５の揺れを抑制することができる。 Further, as shown in FIG. 4, the suction device 62 c of the body pick portion 62 and the suction device 65 c of the cover member pick portion 65 are connected by a substantially V-shaped reinforcing plate 67. For this reason, shaking of the body pick part 62 and the cover member pick part 65 accompanying the drive of the robot arm 60 can be suppressed.
　そして、スライダー組立装置１０では、部品位置検出カメラ６０ａによりピックアップ台２３，３２の上面２３ａ，３２ａに様々な向きで配置される複数の胴体Ｄと引手Ｐの位置を検出し、ロボットアーム６０の回転軸及びロボットハンド６１の回転軸を回転させ、複数ある部品（胴体Ｄ又は引手Ｐ）の１つを選択しピック部により吸着又は把持して、その部品を組立ステーション７０に移送する。また、同一の向きで整列し滑り落ちて停止するロック部材Ｌ及びカバー部材Ｃは、シュート４３，５２の下端部の定位置に位置決めされた状態であるため、部品位置検出カメラ６０ａによりロック部材Ｌ及びカバー部材Ｃの位置を検出する必要はない。 In the slider assembling apparatus 10, the parts position detection camera 60 a detects the positions of the plurality of trunks D and the pullers P arranged in various directions on the upper surfaces 23 a and 32 a of the pickup stands 23 and 32, and rotates the robot arm 60. The shaft and the rotation shaft of the robot hand 61 are rotated, and one of a plurality of parts (body D or puller P) is selected, picked up or gripped by the pick unit, and the parts are transferred to the assembly station 70. Further, the lock member L and the cover member C, which are aligned in the same direction and slide down and stop, are positioned at the fixed positions of the lower ends of the chutes 43 and 52, so that the lock member L is detected by the component position detection camera 60a. It is not necessary to detect the position of the cover member C.
　なお、本実施形態では、胴体Ｄとカバー部材Ｃはピック部により吸着され、引手Ｐとロック部材Ｌはピック部により把持されているが、これに限定されず、胴体Ｄとカバー部材Ｃがピック部により把持され、引手Ｐとロック部材Ｌがピック部により吸着されてもよい。また、胴体Ｄ、カバー部材Ｃ、引手Ｐ、及びロック部材Ｌの形状によっては、全て吸着してもよいし、全て把持してもよい。即ち、各部品の吸着及び把持の組み合わせは自由である。 In the present embodiment, the body D and the cover member C are adsorbed by the pick unit, and the handle P and the lock member L are gripped by the pick unit. However, the present invention is not limited to this, and the body D and the cover member C are picked. The handle P and the lock member L may be adsorbed by the pick unit. Further, depending on the shapes of the body D, the cover member C, the pull handle P, and the lock member L, all of them may be adsorbed or may be gripped. That is, the combination of suction and grip of each component is free.
　次に、図６～図１６を参照して、スライダー組立装置１０の動作について説明する。なお、以下の説明において、ロボットアーム６０は、第１～第６回転軸Ｓ１～Ｓ６を適宜回転駆動させることにより、ロボットハンド６１を任意の位置且つ任意の角度に移動する。 Next, the operation of the slider assembling apparatus 10 will be described with reference to FIGS. In the following description, the robot arm 60 moves the robot hand 61 to an arbitrary position and an arbitrary angle by appropriately rotating the first to sixth rotation axes S1 to S6.
　まず、部品位置検出カメラ６０ａにより胴体供給装置２０のピックアップ台２３の上面２３ａ上にある胴体Dの位置を検出して、ロボットハンド６１の胴体ピック部６２の吸引装置６２ｃにより胴体Ｄを吸着する（胴体ピックアップ工程、図６、図７参照）。 First, the position of the body D on the upper surface 23a of the pickup stand 23 of the body supply device 20 is detected by the component position detection camera 60a, and the body D is sucked by the suction device 62c of the body pick portion 62 of the robot hand 61 ( (Refer to FIG. 6 and FIG. 7).
　次に、部品位置検出カメラ６０ａにより引手供給装置３０のピックアップ台３２の上面３２ａ上にある引手Ｐの位置を検出して、ロボットハンド６１の引手ピック部６３のグリッパ６３ｃにより引手Ｐを把持する（引手ピックアップ工程、図８、図９参照）。また、このとき、引手検出カメラ６６により把持しようとしている引手Ｐの表裏のどちらが上方を向いているかを検出して、その表裏情報を不図示の制御部に記憶する。なお、上記引手検出カメラ６６による引手Ｐの表裏の検出は、引手Ｐの表面にロゴやマーク等が付けられて引手Ｐに表裏の区別がある場合においてのみ行われる。 Next, the position of the handle P on the upper surface 32a of the pickup stand 32 of the handle supply device 30 is detected by the component position detection camera 60a, and the handle P is gripped by the gripper 63c of the handle pick part 63 of the robot hand 61 ( (See the pull-up picking process, FIG. 8 and FIG. 9). At this time, it is detected which of the front and back sides of the pulling hand P to be gripped by the pulling detection camera 66 is facing upward, and the front and back information is stored in a control unit (not shown). The detection of the front and back of the handle P by the handle detection camera 66 is performed only when a logo, a mark, or the like is attached to the surface of the handle P and there is a distinction between the front and back.
　次に、ロボットハンド６１のロック部材ピック部６４のグリッパ６４ｃによりロック部材供給装置４０のシュート４３のピックアップ部４３ａにあるロック部材Ｌを把持する（ロック部材ピックアップ工程、図１０、図１１参照）。 Next, the lock member L in the pickup portion 43a of the chute 43 of the lock member supply device 40 is held by the gripper 64c of the lock member pick portion 64 of the robot hand 61 (see the lock member pickup process, see FIGS. 10 and 11).
　次に、ロボットハンド６１のカバー部材ピック部６５の吸引装置６５ｃによりカバー部材供給装置５０のシュート５２のピックアップ部５２ａにあるカバー部材Ｃを吸着する（カバー部材ピックアップ工程、図１２参照）。 Next, the cover member C in the pickup portion 52a of the chute 52 of the cover member supply device 50 is adsorbed by the suction device 65c of the cover member pick portion 65 of the robot hand 61 (cover member pickup step, see FIG. 12).
　これにより、図４及び図５に示すように、ロボットハンド６１の胴体ピック部６２、引手ピック部６３、ロック部材ピック部６４、及びカバー部材ピック部６５に、胴体D、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃがそれぞれ保持される。 Accordingly, as shown in FIGS. 4 and 5, the body D, the handle P, and the lock member L are added to the body pick portion 62, the handle pick portion 63, the lock member pick portion 64, and the cover member pick portion 65 of the robot hand 61. And the cover member C are respectively held.
　次に、ロボットハンド６１の胴体ピック部６２により組立ステーション７０の組立凹部７１に胴体Ｄをセットする（胴体セット工程、図１３参照）。 Next, the body D is set in the assembly recess 71 of the assembly station 70 by the body pick section 62 of the robot hand 61 (see the body setting step, FIG. 13).
　次に、ロボットハンド６１の引手ピック部６３により組立凹部７１にセットされた胴体Ｄの前後の柱部Ｄ４，Ｄ５間に引手Ｐの軸部Ｐ１をセットする（引手セット工程、図１４参照）。また、このとき、引手Ｐに表裏の区別があり、把持している引手Ｐの表面が上方を向いている場合、引手Ｐを胴体Ｄの後の柱部Ｄ５側にセットし、把持している引手Ｐの裏面が上方を向いている場合、前の柱部Ｄ４側にセットする。 Next, the shaft portion P1 of the pull handle P is set between the front and rear column portions D4 and D5 of the body D set in the assembly recess 71 by the pull pick portion 63 of the robot hand 61 (see pull setting step, see FIG. 14). Further, at this time, there is a distinction between the front and back of the pull handle P, and when the grip handle P is facing upward, the pull handle P is set and gripped on the post D5 side of the body D. When the back surface of the handle P faces upward, it is set on the front column part D4 side.
　次に、ロボットハンド６１のロック部材ピック部６４により組立凹部７１にセットされた胴体Ｄにロック部材Ｌをセットする（ロック部材セット工程、図１５参照）。 Next, the lock member L is set on the body D set in the assembly recess 71 by the lock member pick part 64 of the robot hand 61 (see the lock member setting process, FIG. 15).
　次に、ロボットハンド６１のカバー部材ピック部６５により組立凹部７１にセットされた胴体Ｄの前後の柱部Ｄ４，Ｄ５にカバー部材Ｃを被せるようにセットする（カバー部材セット工程、図１６参照）。これにより、スライダーＳの仮組み立てが完了となる。 Next, the cover member pick part 65 of the robot hand 61 is set so that the cover member C is placed on the front and rear column parts D4 and D5 of the body D set in the assembly recess 71 (see the cover member setting step, see FIG. 16). . Thereby, the temporary assembly of the slider S is completed.
　次に、組立ステーション７０がレール７２に沿って移動することにより仮組みされたスライダーＳがかしめ装置８０に搬送され、かしめ装置８０によりカバー部材Ｃが胴体Ｄの前後の柱部Ｄ４，Ｄ５にかしめられ、スライダーＳが仕上げられる（仕上げ工程）。そして、組立ステーション７０が元の位置に移動して、仕上げられたスライダーＳが排出部９０に排出される。なお、カバー部材Ｃは、その左右の側面板Ｃ２が胴体Ｄの前後の柱部Ｄ４，Ｄ５にかしめられることにより、胴体Ｄに取り付けられる。また、図３中の符号Ｃ６は、側面板Ｃ２のかしめ部である。また、カバー部材Ｃは、その前後の端面板Ｃ３が胴体Ｄの前後の柱部Ｄ４，Ｄ５にかしめられることにより、胴体Ｄに取り付けられてもよい。 Next, as the assembly station 70 moves along the rail 72, the temporarily assembled slider S is conveyed to the caulking device 80, and the caulking device 80 caulks the cover member C to the front and rear column portions D4 and D5 of the body D. The slider S is finished (finishing process). Then, the assembly station 70 moves to the original position, and the finished slider S is discharged to the discharge unit 90. The cover member C is attached to the body D by caulking the left and right side plates C2 to the column parts D4 and D5 before and after the body D. Moreover, the code | symbol C6 in FIG. 3 is a crimping part of the side plate C2. Further, the cover member C may be attached to the body D by crimping the front and rear end face plates C3 to the front and rear column portions D4 and D5 of the body D.
　また、本実施形態のスライダーの組立方法は、上述したように、スライダーＳの部品である胴体Ｄ、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃを供給する胴体供給装置２０、引手供給装置３０、ロック部材供給装置４０、及びカバー部材供給装置５０から部品をロボットアーム６０でピックアップする工程（胴体ピックアップ工程、引手ピックアップ工程、ロック部材ピックアップ工程、及びカバー部材ピックアップ工程）と、ロボットアーム６０でピックアップした部品を組み立てる工程（胴体セット工程、引手セット工程、ロック部材セット工程、及びカバー部材セット工程）と、かしめ装置８０にて組み立てられたスライダーＳにかしめ加工を行い仕上げる工程と、を備える。 In addition, as described above, the slider assembling method of the present embodiment includes the body D, the handle P, the lock member L, and the cover member C that are parts of the slider S, the body supply device 20, the handle supply device 30, and the like. The robot arm 60 picks up parts from the lock member supply device 40 and the cover member supply device 50 (the body pickup process, the pulling pickup process, the lock member pickup process, and the cover member pickup process), and the robot arm 60 picks up the parts. A process of assembling the parts (body setting process, handle setting process, lock member setting process, and cover member setting process), and a process of caulking and finishing the slider S assembled by the caulking device 80.
　以上説明したように、本実施形態のスライダー組立装置１０によれば、胴体Ｄを供給する胴体供給装置２０と、引手Ｐを供給する引手供給装置３０と、ロック部材Ｌを供給するロック部材供給装置４０と、カバー部材Ｃを供給するカバー部材供給装置５０と、胴体供給装置２０、引手供給装置３０、ロック部材供給装置４０、及びカバー部材供給装置５０から胴体Ｄ、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃをピックアップするロボットアーム６０と、ロボットアーム６０がスライダーＳを組み立てる組立ステーション７０と、組立ステーション７０で組み立てられたスライダーＳにかしめ加工を行うかしめ装置８０と、を備えるため、スライダーＳの部品、本実施形態では胴体Ｄと引手Ｐを所定の姿勢で整列させる部品を少なくすることができる。このため、ロット切り替え時に交換する部品を少なくすることができ、ロット切り替えに掛かる時間を短縮することができる。また、ロボットアーム６０でスライダーＳを組み立てるので、従来のスライダー組立装置と比較して、スライダーの部品をターンテーブルに供給するための駆動装置を各供給装置に設ける必要がなく、スライダー組立装置１０を小型化することができる。 As described above, according to the slider assembling apparatus 10 of the present embodiment, the body supply device 20 that supplies the body D, the handle supply device 30 that supplies the handle P, and the lock member supply device that supplies the lock member L. 40, cover member supply device 50 for supplying cover member C, body supply device 20, handle supply device 30, lock member supply device 40, and cover member supply device 50 to body D, handle P, lock member L, and Since the robot arm 60 for picking up the cover member C, the assembly station 70 for assembling the slider S by the robot arm 60, and the caulking device 80 for caulking the slider S assembled at the assembly station 70 are provided. In this embodiment, the number of parts that align the body D and the handle P in a predetermined posture is reduced. Can. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching. Further, since the slider S is assembled by the robot arm 60, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device. It can be downsized.
　また、本実施形態のスライダー組立方法によれば、スライダーＳの部品である胴体Ｄ、引手Ｐ、ロック部材Ｌ、及びカバー部材Ｃを供給する胴体供給装置２０、引手供給装置３０、ロック部材供給装置４０、及びカバー部材供給装置５０から部品をロボットアーム６０でピックアップする工程と、ロボットアーム６０でピックアップした部品を組み立てる工程と、組み立てられたスライダーＳにかしめ加工を行い仕上げる工程と、を備えるため、スライダーＳの部品を所定の姿勢で整列させる部品を少なくすることができる。このため、ロット切り替え時に交換する部品を少なくすることができ、ロット切り替えに掛かる時間を短縮することができる。また、ロボットアーム６０でスライダーＳを組み立てるので、従来のスライダー組立装置と比較して、スライダーの部品をターンテーブルに供給するための駆動装置を各供給装置に設ける必要がなく、スライダー組立装置１０を小型化することができる。 In addition, according to the slider assembling method of the present embodiment, the body D, the handle P, the lock member L, and the cover member C that are parts of the slider S, the body supply device 20, the handle supply device 30, and the lock member supply device. 40, and a process of picking up parts from the cover member supply device 50 by the robot arm 60, a process of assembling the parts picked up by the robot arm 60, and a process of finishing the assembled slider S by caulking. The number of parts for aligning the parts of the slider S in a predetermined posture can be reduced. For this reason, it is possible to reduce the number of parts to be replaced at the time of lot switching, and it is possible to reduce the time required for lot switching. Further, since the slider S is assembled by the robot arm 60, it is not necessary to provide each of the supply devices with a drive device for supplying the slider parts to the turntable as compared with the conventional slider assembly device. It can be downsized.
　なお、本発明は上記実施形態に例示したものに限定されるものではなく、本発明の要旨を逸脱しない範囲において適宜変更可能である。
　例えば、上記実施形態では、自動停止機能付きのスライダーを組み立てたが、これに限定されず、自動停止機能が付いていないスライダーを組み立ててもよい。この場合、ロック部材が不要となるので、ロック部材供給装置を取り外してもよいし、休止状態にしておいてもよい。
　また、上記実施形態では、カバー部材Ｃを備えるスライダーＳを組み立てたが、図１７に示すスライダーＳを組み立ててもよい。このスライダーＳは、カバー部材Ｃがなく、胴体Ｄの前後の柱部Ｄ４，Ｄ５に挿入されたロック部材Ｌを、前後の柱部Ｄ４，Ｄ５でかしめて固定するものである。なお、図１７のスライダーＳにおける図３のスライダーＳと同一又は同等部分については、図面に同一或いは同等符号を付してその説明を省略或いは簡略化する。 In addition, this invention is not limited to what was illustrated to the said embodiment, In the range which does not deviate from the summary of this invention, it can change suitably.
For example, in the above embodiment, the slider with the automatic stop function is assembled, but the present invention is not limited to this, and a slider without the automatic stop function may be assembled. In this case, since the lock member is unnecessary, the lock member supply device may be removed or may be in a resting state.
Moreover, in the said embodiment, although the slider S provided with the cover member C was assembled, you may assemble the slider S shown in FIG. The slider S does not have the cover member C, and is used to fix the lock member L inserted into the front and rear column portions D4 and D5 of the body D by the front and rear column portions D4 and D5. Note that the same or equivalent portions of the slider S of FIG. 17 as those of the slider S of FIG. 3 are denoted by the same or equivalent reference numerals, and the description thereof is omitted or simplified.
　　１０　　スライダー組立装置
　　２０　　胴体供給装置（部品供給装置）
　　２２　　シュート
　　２３　　ピックアップ台
　　３０　　引手供給装置（部品供給装置）
　　３１　　シュート
　　３２　　ピックアップ台
　　４０　　ロック部材供給装置（部品供給装置）
　　４３　　シュート
　　４３ａ　ピックアップ部
　　５０　　カバー部材供給装置（部品供給装置）
　　５２　　シュート
　　５２ａ　ピックアップ部
　　６０　　ロボットアーム
　　６０ａ　部品位置検出カメラ（カメラ）
　　６１　　ロボットハンド
　　６２　　胴体ピック部（ピック部）
　　６２ｄ　吸引ノズル
　　６３　　引手ピック部（ピック部）
　　６３ｃ　グリッパ
　　６４　　ロック部材ピック部（ピック部）
　　６４ｃ　グリッパ
　　６５　　カバー部材ピック部（ピック部）
　　６５ｄ　吸引ノズル
　　６６　　引手検出カメラ（カメラ）
　　７０　　組立ステーション
　　７１　　組立凹部
　　８０　　かしめ装置
　　９０　　排出部
　　　Ｓ　　スライダー
　　　Ｄ　　胴体（スライダーの部品）
　　　Ｐ　　引手（スライダーの部品）
　　　Ｌ　　ロック部材（スライダーの部品）
　　　Ｃ　　カバー部材（スライダーの部品） 10 Slider assembly device 20 Body supply device (component supply device)
22 chute 23 pick-up stand 30 handle supply device (component supply device)
31 Chute 32 Pickup stand 40 Lock member supply device (component supply device)
43 Chute 43a Pickup unit 50 Cover member supply device (component supply device)
52 Chute 52a Pickup part 60 Robot arm 60a Component position detection camera (camera)
61 Robot hand 62 Body pick part (pick part)
62d Suction nozzle 63 Picking pick part (pick part)
63c Gripper 64 Lock member pick part (pick part)
64c Gripper 65 Cover member pick part (pick part)
65d Suction nozzle 66 Catch detection camera (camera)
70 assembly station 71 assembly recess 80 caulking device 90 discharge section S slider D fuselage (part of slider)
P Puller (Slider part)
L Lock member (Slider part)
C Cover member (Slider part)

Claims (9)

  1. 　スライドファスナーのスライダー（Ｓ）の部品（Ｄ、Ｐ、Ｌ、Ｃ）を供給する複数の部品供給装置（２０、３０、４０、５０）と、
    　前記複数の部品供給装置（２０、３０、４０、５０）から前記部品（Ｄ、Ｐ、Ｌ、Ｃ）をピックアップするロボットアーム（６０）と、
    　前記ロボットアーム（６０）が前記スライダー（Ｓ）を組み立てる組立ステーション（７０）と、
    　前記組立ステーション（７０）で組み立てられた前記スライダー（Ｓ）にかしめ加工を行うかしめ装置（８０）と、を備えることを特徴とするスライダー組立装置（１０）。     A plurality of component supply devices (20, 30, 40, 50) for supplying the components (D, P, L, C) of the slider (S) of the slide fastener;
    A robot arm (60) for picking up the components (D, P, L, C) from the plurality of component supply devices (20, 30, 40, 50);
    An assembly station (70) in which the robot arm (60) assembles the slider (S);
    A slider assembling apparatus (10), comprising: a caulking device (80) for caulking the slider (S) assembled at the assembling station (70).
  2. 　前記ロボットアーム（６０）は、複数の回転軸（Ｓ１～Ｓ６）を有する多軸のロボットアームであり、前記ロボットアーム（６０）の先端にロボットハンド（６１）が取り付けられることを特徴とする請求項１に記載のスライダー組立装置（１０）。 The robot arm (60) is a multi-axis robot arm having a plurality of rotation axes (S1 to S6), and a robot hand (61) is attached to a tip of the robot arm (60). Item 10. A slider assembling apparatus (10) according to item 1.
  3. 　前記ロボットハンド（６１）は、前記スライダー（Ｓ）の前記部品（Ｄ、Ｐ、Ｌ、Ｃ）をピックアップする複数のピック部（６２，６３，６４，６５）を備え、
    　前記複数のピック部（６２，６３，６４，６５）は、前記部品（Ｄ、Ｃ）を吸着する吸引ノズル（６２ｄ，６５ｄ）、又は、前記部品（Ｐ、Ｌ）を把持するグリッパ（６３ｃ，６４ｃ）をそれぞれ備えることを特徴とする請求項２に記載のスライダー組立装置（１０）。     The robot hand (61) includes a plurality of pick parts (62, 63, 64, 65) for picking up the parts (D, P, L, C) of the slider (S),
    The plurality of pick parts (62, 63, 64, 65) are suction nozzles (62d, 65d) for sucking the parts (D, C) or grippers (63c, 63) for holding the parts (P, L). 64. The slider assembling device (10) according to claim 2, wherein each of the slider assembling devices (10) comprises 64c).
  4. 　前記複数の部品供給装置は、前記スライダー（Ｓ）の前記部品である胴体（Ｄ）を供給する胴体供給装置（２０）と、前記スライダー（Ｓ）の前記部品である引手（Ｐ）を供給する引手供給装置（３０）と、前記スライダー（Ｓ）の前記部品であるロック部材（Ｌ）を供給するロック部材供給装置（４０）と、前記スライダー（Ｓ）の前記部品であるカバー部材（Ｃ）を供給するカバー部材供給装置（５０）であり、
    　前記胴体供給装置（２０）は、前記胴体（Ｄ）を滑り落とすシュート（２２）と、前記シュート（２２）を滑り落ちた前記胴体（Ｄ）がランダムな向きに停止するピックアップ台（２３）と、を備え、
    　前記引手供給装置（３０）は、前記引手（Ｐ）を滑り落とすシュート（３１）と、前記シュート（３１）を滑り落ちた前記引手（Ｐ）がランダムな向きに停止するピックアップ台（３２）と、を備え、
    　前記ロック部材供給装置（４０）は、前記ロック部材（Ｌ）を所定の姿勢で滑り落とすシュート（４３）と、前記シュート（４３）を滑り落ちた前記ロック部材（Ｌ）が所定の姿勢のまま停止するピックアップ部（４３ａ）と、を備え、
    　前記カバー部材供給装置（５０）は、前記カバー部材（Ｃ）を所定の姿勢で滑り落とすシュート（５２）と、前記シュート（５２）を滑り落ちた前記カバー部材（Ｃ）が所定の姿勢のまま停止するピックアップ部（５２ａ）と、を備え、
    　前記ロボットアーム（６０）の上方に、前記胴体（Ｄ）、前記引手（Ｐ）、前記ロック部材（Ｌ）、及び前記カバー部材（Ｃ）の少なくとも１つの位置を検出するカメラ（６０ａ）を設けることを特徴とする請求項２又は３に記載のスライダー組立装置（１０）。     The plurality of component supply devices supply a body supply device (20) that supplies the body (D) that is the component of the slider (S), and a handle (P) that is the component of the slider (S). A handle supply device (30), a lock member supply device (40) for supplying a lock member (L) which is the component of the slider (S), and a cover member (C) which is the component of the slider (S) Cover member supply device (50) for supplying
    The fuselage supply device (20) includes a chute (22) that slides down the fuselage (D), and a pickup stand (23) that the fuselage (D) that slides down the chute (22) stops in a random direction. With
    The puller supply device (30) includes a chute (31) that slides down the puller (P), and a pickup stand (32) that stops the puller (P) that slides down the chute (31) in a random direction. With
    The lock member supply device (40) includes a chute (43) that slides down the lock member (L) in a predetermined posture and the lock member (L) that slides down the chute (43) in a predetermined posture. A pickup unit (43a) to stop,
    The cover member supply device (50) includes a chute (52) that slides down the cover member (C) in a predetermined posture and the cover member (C) that slides down the chute (52) in a predetermined posture. A pickup unit (52a) to stop,
    A camera (60a) for detecting at least one position of the body (D), the handle (P), the lock member (L), and the cover member (C) is provided above the robot arm (60). The slider assembly device (10) according to claim 2 or 3, characterized in that
  5. 　前記ロボットハンド（６１）の前記複数のピック部（６２，６３，６４，６５）により吸着又は把持された前記部品（Ｄ、Ｐ、Ｌ、Ｃ）を順次組み立てる組立ステーション（７０）を備えることを特徴とする請求項４に記載のスライダー組立装置（１０）。 An assembly station (70) for sequentially assembling the parts (D, P, L, C) sucked or held by the plurality of pick parts (62, 63, 64, 65) of the robot hand (61); The slider assembly device (10) according to claim 4, characterized in that it is characterized in that
  6. 　前記組立ステーション（７０）は、前記胴体（Ｄ）をセットする組立凹部（７１）を有することを特徴とする請求項５に記載のスライダー組立装置（１０）。 The slider assembly apparatus (10) according to claim 5, wherein the assembly station (70) has an assembly recess (71) for setting the body (D).
  7. 　前記組立ステーション（７０）で組み立てられた前記スライダー（Ｓ）を排出する排出部（９０）を備えることを特徴とする請求項５又は６に記載のスライダー組立装置（１０）。 The slider assembling apparatus (10) according to claim 5 or 6, further comprising a discharge section (90) for discharging the slider (S) assembled at the assembly station (70).
  8. 　前記ロボットハンド（６１）又は前記引手供給装置（３０）の前記ピックアップ台（３２）に、前記引手（Ｐ）の表裏を判別するカメラ（６６）を設けることを特徴とする請求項４～７のいずれか１項に記載のスライダー組立装置（１０）。 The camera (66) for discriminating the front and back of the puller (P) is provided on the pick-up stand (32) of the robot hand (61) or the puller supply device (30). The slider assembly apparatus (10) according to any one of the preceding claims.
  9. 　スライドファスナーのスライダー（Ｓ）の部品（Ｄ、Ｐ、Ｌ、Ｃ）を供給する複数の部品供給装置（２０、３０、４０、５０）から前記部品（Ｄ、Ｐ、Ｌ、Ｃ）をロボットアーム（６０）でピックアップする工程と、
    　前記ロボットアーム（６０）でピックアップした前記部品（Ｄ、Ｐ、Ｌ、Ｃ）を組み立てる工程と、
    　組み立てられた前記スライダー（Ｓ）にかしめ加工を行い仕上げる工程と、を備えることを特徴とするスライダー組立方法。
          The parts (D, P, L, C) from a plurality of parts supply devices (20, 30, 40, 50) that supply the parts (D, P, L, C) of the slider (S) of the slide fastener are robot arms. Picking up at (60);
    Assembling the parts (D, P, L, C) picked up by the robot arm (60);
    And a step of caulking and finishing the assembled slider (S).
PCT/JP2014/069914 2014-07-29 2014-07-29 Slider assembly device and slider assembly method WO2016016940A1 (en)

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CN201480079791.XA CN106455770B (en) 2014-07-29 2014-07-29 Pull head assembling device and pull head assemble method
TW104124187A TWI556761B (en) 2014-07-29 2015-07-27 Assembly device for pull head and assembly method of pull head

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