JPH0148096B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a workpiece processing method using a work robot.

Generally, when a workpiece is gripped by the hand portion of a work robot and the workpiece is set at a processing position by the work robot to perform a predetermined process, a large number of the above-mentioned workpieces are prepared, but conventionally, these workpieces are individually Because it is an independent rose,
From the viewpoint of processing accuracy, it was necessary to arrange the workpieces in a regular and orderly manner before gripping them with the hand section. This requires a lot of effort, which lowers work efficiency, and there are also problems in that the accuracy of the position to be gripped is difficult to maintain.

The present invention solves these conventional problems and improves work efficiency by eliminating the trouble of arranging a large number of workpieces in an orderly manner, and also enables the hand of the work robot to always grip the workpiece at a fixed position. The purpose of this invention is to provide a workpiece machining method using a work robot that can improve machining accuracy.

Therefore, the present invention is characterized by forming a staple body in which a large number of works are unseparated and continuous by pressing a metal strip material, and then using the hand section of a work robot to assemble the staple body. While grasping the tip work, only the tip work is cut and separated from the staple body, and then, without releasing the grip, the tip work gripped by the hand section is set at a processing position by the work robot and set at a predetermined position. The first step is to process the tip of the workpiece in sequence.

Hereinafter, the present invention will be described in detail based on drawings showing embodiments.

In FIGS. 1 and 2, 1 is a staple (stapler) body in which a large number of works 2 are unseparated and continuous, and this staple body 1 is made by pressing a metal band-shaped material. It is formed. That is, it has a downward U-shape when viewed from the front, and cuts 3, 3 are provided at predetermined intervals in the longitudinal direction from both left and right sides. Thus, the workpiece 2 is formed of left and right L-shaped pieces of a U-shape, and is continuous in the longitudinal direction at the central connecting portion 4 formed by the cuts 3, 3. 5 is a hole penetrated through the horizontal portion 6 of each workpiece 2... portion.

Reference numerals 7 and 7 refer to hand portions at the ends of the arms of the work robot. Both hand portions 7 and 7 are in a horizontal positional relationship with each other, and the interval between them is such that the horizontal portions 6 of the left and right workpieces 2 and 2 portions of the staple body 1 are gripped. It is said that the size is possible.

8 is a transfer device 9 for intermittently feeding the staple body 1;
This cutting device is located at the tip of the staple body 1, and is composed of a fixed lower tool post 10 and an upper blade object 11 that can be raised and lowered. 3, 3 A pair of blades 12, 12 for longitudinally cutting only the left and right workpieces 2, 2 at the tip along the inner edge, a blade (not shown) for cutting the central connecting part 4, and the blades 12, 12
a pressing member 13 located between the staple body 1 and the pressing member 13, which is located between the staple body 1 and the staple body 1 and which descends together during cutting, and which presses the central part of the staple body 1 against the lower tool post 10 with the elastic force of an internal elastic member (not shown) immediately before cutting; Equipped with Reference numerals 14 and 14 denote guide members that guide the left and right sides of the staple body 1, and are attached to the transfer device 9.

Next, to explain the processing method of workpiece 2 using Figs. 3, 4, and 5, the winding 1
5, or the staple body 1 cut into a long linear shape is sent by the transfer device 9 and stopped so that the tip workpieces 2, 2 are positioned on the lower tool rest 10 of the cutting device 8, and the staple body 1 is cut into a long linear shape. Presser 2 of device 16
0, a part of which is pressed and fixed onto a pedestal (not shown). Then, the arm 18 and hand portions 7, 7 of the work robot 17 are operated, and the horizontal portions 6 of the left and right workpieces 2, 2 at the tips of the staple body 1 shown in FIG. 1 are gripped by the hand portions 7, 7. In this state, the upper blade object 11 of the cutting device 8 is lowered to cut and separate the gripped left and right workpieces 2, 2 at the tip from the staple body 1. After that, without releasing the grip, the hand portion 7,
The tip workpiece 2 held by the workpiece 7 is set at a machining position by the work robot 17, and predetermined machining is performed on the left and right workpieces 2, 2, as shown in FIG. In addition, in FIG. 5, the machining of the left and right workpieces 2, 2 is illustrated in the case where a nut 19 is welded to the holes 5 thereof.

While the workpieces 2, 2 processed in this way are held in the hand parts 7, 7, the work robot 1 is further moved.
7 leads to an inspection device (not shown), where, for example, the presence or absence of weld leakage in the nut 19 is inspected. As a result, good products are transferred to the next process as appropriate, and defective products are dropped at a predetermined location.

During this time, the staple body 1 has already been transferred, and the left and right workpieces 2, 2 at the tip are located on the lower tool rest 10 of the cutting device 8, and the hand parts 7, 7 of the work robot 17 can be received. is in a state of Thereafter, similar operations are performed, and in this way, processing is sequentially performed starting from the left and right workpieces 2, 2 at the tip.

In the processing steps described above, a large number of works 2 are formed into unseparated and continuous staple bodies 1, and the staple bodies 1 are guided in the left and right direction by guide members 14 of the transfer device 9, In addition, when stopped, the cylinder device 16 presses the cylinder device 16 and prevents movement in the front and rear direction.
As shown in the figure, the gripping positions A, A of the hands 7, 7 for the left and right workpieces 2, 2 are the same and always remain constant. Therefore, variations in processing positions such as welding or drilling are greatly reduced, and processing accuracy can be improved. Further, in the cutting process, the pressing member 13 of the upper blade object 11 of the cutting device 8 presses the central portion of the staple body 1 against the lower tool rest 10 immediately before cutting, so that sharp cutting is performed.

In the above embodiment, the workpiece 2 is an L-shaped piece on the left and right sides of the staple body 1 which has a U-shape when viewed from the front, but the shape can be changed in various ways, and the workpiece 2 can be cut into a U-shape without being separated left and right. It is also possible to use the workpiece 2 as the workpiece 2. In this case, the central connecting portion 4 of the staple body 1 may be cut by the cutting device 8, and the hand portion 7 of the work robot 17 may also be used as one set.
You are free to form groups.

The present invention has effectively achieved the intended purpose as detailed above, and in particular, a staple body in which a large number of works are unseparated and continuous is formed by pressing a metal strip material. Cutting and separating only the tip workpiece from the staple body while grasping the tip workpiece of the staple body with the hand portion of the work robot, and then cutting and separating only the tip workpiece from the staple body, and then cutting the tip workpiece held by the hand portion without releasing the grip. The work robot sets the work robot at the processing position and performs the predetermined processing, and the workpieces are processed sequentially starting from the tip workpiece, so that when the workpiece 2 is gripped by the hand portion 7 of the work robot 17, the workpiece 2 is not separated. Since it is continuous, there is no need to provide a device or process for arranging a large number of loose workpieces in an orderly manner, and the gripping operation can be performed reliably and easily. The gripping position of the hand section 7 that is gripping is always constant, so when performing processing such as welding on the workpiece 2, variations in the processing position are minimized, and the processing accuracy of the workpiece 2 is improved. can be significantly improved. The hand section 7 also handles the cut and separated workpiece 2.
Work 2...
It is also easy to manage, and it is possible to significantly improve work efficiency and shorten work time.

[Brief explanation of drawings]

Fig. 1 is a perspective view of essential parts showing one embodiment of the present invention, Fig. 2 is a front sectional view of the same, Fig. 3 is a simplified side view of the whole, Fig. 4 is a simplified plan view, and Fig. 5 is a processing It is a perspective view showing a state. 1... Staple body, 2... Workpiece, 7... Hand part, 17... Work robot.

Claims (1)

[Claims] 1. A staple body 1 in which a large number of works 2 are continuous and unseparated is formed by pressing a metal strip material, and the tip work 2 of the staple body 1 is used by the hand portion 7 of the work robot 17. The tip workpiece 2 alone is cut and separated from the staple body 1 while grasping it, and then the tip workpiece 2 held by the hand portion 7 is set at a processing position by the work robot 17 without releasing the grip. A workpiece machining method using a work robot, characterized in that predetermined machining is performed using a robot, and the workpieces are sequentially machined starting from the tip workpiece 2.