JPH031193Y2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Technical Field of the Invention The present invention relates to an automatic member feeding device using a robot, and particularly relates to an improvement of a member feeding mechanism that can improve the positioning accuracy of a robot hand.

(b) Background of the technology In recent years, with the advancement of factory automation, various types of automation devices for manufacturing plants have been developed and put into practical use, and among them, the spread of robots that can flexibly adapt to manufacturing processes is remarkable.

Air cylinders and hydraulic cylinders are widely used in the hands of these robots, and as the use of robots becomes more sophisticated and they are used for highly precise assembly work, the positioning accuracy of the robot hand is increasingly required. In response to this, it has become necessary to increase the accuracy of operation by providing an economical mechanism.

(c) Prior Art and Problems Hereinafter, the conventional method will be explained using a motor rotor assembly robot as an example with reference to FIGS. 1 and 2. Figure 1 is a perspective view showing the conventional method, Figure 2 is a perspective view showing the conventional method;
The figure is an explanatory diagram of FIG. 1.

As shown in FIG. 1, two sets of robots 2 and 3 and a hydraulic press 4 are installed on a table 1.

The robots 2 and 3 have bases 21 and 31 fixed to the table 1, air cylinders 22 and 32 attached to the bases so as to be able to rotate and move up and down, arms 23 and 33, and a hand 24 attached to the tip thereof. It consists of 34. Rotation and elevation are performed by a rotation and elevation mechanism (not shown).

The arms 23 and 33 are expanded and contracted by the operation of the air cylinders 22 and 32.

The hand 34 is rotatable about the axis of the arm 33.

An assembly jig 41 is set in the hydraulic press 4.

Also, a magazine 5 and a storage section 6 are arranged beside the robot 3. An air cylinder 51 is provided at the bottom of the magazine 5, and a shaft member 6 to be assembled is stored in the magazine 5. When the air cylinder 51 operates, the shaft member 6 is assembled.
Books are sent out one by one in a horizontal position. The storage section 7 is provided with a shutter 71 and a storage box 72.

A press 8 equipped with a progressive stacking mold 81 is installed on the side of the robot 2, at the upper left in the figure.

Further, a steel hoop material 9a is wound around the left side of the press 8, and the hoop material 9a supplied to the progressive lamination die 81 is punched into a laminated plate (not shown) by the progressive lamination die 81 and laminated. Laminated body 9
becomes.

With this configuration, when assembling the stacked body 9 and the shaft member 6 using this device, the air cylinder 22 of the robot 2 first rises to a predetermined height, and then moves 90 degrees in the direction of arrow A in the figure. The air cylinder 22 is activated, the arm 23 is extended, and the hand 24 moves forward to grip the stacked product 9 stacked and sent out by the progressive stacking die 81, and the stacked product 9 is rubbed against its support base. Slightly raise the arm 23 to prevent
The assembly jig 41 is rotated once, then moved forward and positioned above the assembly jig 41 set in the hydraulic press 4.
until the laminate 9 is inserted. Then, it returns to the standby position for supplying the next stacked product 9.

On the other hand, in the robot 3, the air cylinder 32 descends to a predetermined height, the hand 34 moves forward, grips the shaft member 6 sent out by the operation of the air cylinder 51, and the hand 34 rotates 90 degrees to grasp the shaft member 6. vertically, the air cylinder 32 rotates 90 degrees in the direction of arrow C and moves forward, and the hydraulic press 4
Proceed to the upper part of the center hole (not shown) of the laminate 9 inserted into the upper assembly jig 41, then lower the air cylinder 32 and insert the tapered part of the tip of the shaft member 6 into the center hole. do.

Then, the hydraulic press 4 operates and the shaft member 6
is press-fitted into the center hole of the laminate 9 to complete the assembly.

When the press-fitting starts, the hand 34 releases the shaft member 6, and when the press-fitting is completed, grips it again.
The hand 34 rises as the air cylinder 32 rises and then retreats, the air cylinder 32 rotates in the direction of arrow D, the hand 34 rotates the stacked body 9 by 90 degrees to make it horizontal, and then moves forward. When the air cylinder 32 is lowered and placed on the shutter 71 of the storage section 7, the stacked body 9 falls while rotating the shutter 71 and is stored in the storage box 72.

The hand 34 then returns to the standby position for supplying the next shaft member 6.

In this way, the assembly process of press-fitting the shaft member 6 into the laminate 9 can be performed automatically.

However, according to this method, robot 2,
In the gripping and supply positioning of the stacked body 9 and the shaft member 6 by 3, for example, approximately ±0.5 mm is required, and accuracy can be achieved with a stopper (not shown) for vertical and longitudinal strokes, but rotational Regarding the direction, there is mechanical play and the stopping accuracy is unstable, as shown in Figure 2.
Even if there is a slight error θ in the rotation angle, the error is magnified at the tips of the hands 24 and 34 shown by the two-dot chain line in the figure, and there is a play ε with respect to the correct center position a.
Therefore, there is a drawback that the positioning accuracy becomes extremely poor.

Reducing the rotation angle error θ requires a mechanically large-scale device, that is, a high-grade robot, which has the disadvantage of increasing costs, and there is no way to ensure accuracy with a simple mechanism. It was wanted.

In addition, when taking out and placing the supplied member, the horizontal movement is performed by slightly raising the supplied member so that the supplied member does not rub against the support table, etc.
In addition, especially when inserting the laminate 9 into the assembly jig 41 or inserting the tip of the shaft member 6 into the center hole of the laminate 9, there is a vertical descent (or rise). There is a problem in that the horizontal angle (rotation angle) of the arm needs to be accurately determined before this descent (or ascent) begins.

(d) Purpose of the invention The purpose of the present invention is to solve the above-mentioned drawbacks, and is to provide a component supply mechanism that can improve positioning accuracy with a simple mechanism.

(e) Structure of the invention The invention provides a guide member having a vertical slit that restricts the degree of freedom of rotation in the horizontal plane, and also provides a guide pin on the arm that is inserted into the slit with the degree of freedom in the direction of expansion and contraction. When the pin is inserted into the slit and its rotation in the horizontal plane is restricted, the range of extension/contraction and elevation of the arm determined by the length of the guide pin and the mounting position on the arm is configured to be movable while the rotation in the horizontal plane is restricted. This is a member supply mechanism characterized by the following, and by doing so, the object can be achieved.

(f) Embodiment of the invention An embodiment of the invention will be described below with reference to FIGS. 3 and 4. FIG. 3 is a perspective view showing an embodiment of the present invention, and FIG. 4 is a side view of FIG. 3. The same reference numerals indicate the same objects throughout the figures.

The robots 21 and 31 explained in the conventional example in FIG.
Since the same applies to the arms 23 and 33, the arm 23 will be explained below.

As shown in FIGS. 3 and 4, a holder 11 having a guide pin 10 is attached to the arm 23. As shown in FIGS. The guide pin 10 is tapered toward the tip.

Further, a guide block 12 is arranged on the table 1 in front of the progressive stacking die 81 (not shown), and the guide block 12 is provided with a slit 13 having a tapered part 13a that opens in a V-shape in the direction of the guide pin 10. ing.

The height of the guide block 12 is set higher than the guide pin 10 and lower than the arm 23. The position of the slit 13 is in a predetermined direction in which the arm 23 grips the stacked body 9, and the width of the slit 13 is set to a size that allows the guide pin 10 to be inserted and maintain a predetermined positional accuracy.

With this configuration, when the robot 2 is operated, the arm 2 is activated as explained in the conventional example.
3 rotates in the direction of arrow A, stops, and then moves forward in the direction of arrow E in the figure, the guide pin 10 is guided by the tapered portion 13a and inserted into the slit 13.

At this time, even if there is an error in the stopping position of the arm 23 after rotation, the guide pin 10 will be
Since the laminate 9 is inserted into the slit 13 with its direction corrected by being guided by the laminate 9, the laminate 9 can be correctly advanced in the direction of gripping, and the hand 24 can reliably grip the laminate 9.

As mentioned above, when inserting the laminate 9 of this embodiment into the assembly jig 41 or inserting the tip of the shaft member 6 into the center hole of the laminate 9, the vertical downward movement ( The horizontal angle (rotation angle) of the arm must be accurately determined before the descent (or ascent) begins, and the slit in the guide block determines the arm's direction angle. At the same time, it is designed to allow the arm to extend and contract in the correct direction after the determination, and to allow the arm to rise and fall while maintaining the correct directional angle, and is suitable for this purpose.

Incidentally, the closer the position of the guide block is to the horizontal rotation axis of the arm, the coarser the accuracy of controlling the rotation angle of the arm of the robot itself.

Although not shown, in the same manner as described above, the guide block 12 is arranged such that the stacked body 9 is connected to the hand 24 of the robot 2.
The shaft member 6 is also provided in front of the magazine 5 and the assembly jig 41 which are gripped and supplied by the hand 34 of the robot 3. The errors in the stopping positions of the arms 23 and 33 of the robots 2 and 3 in the rotational direction are corrected by the guide pin 10 and the guide block 12.
The positioning accuracy can be maintained at low cost with a simple mechanism.

(g) Effect of the invention As explained above, according to the invention, the guide pin provided on the arm of the component supply mechanism can be guided by the slit guide, so there is no need to use a high-class mechanism, and the device It has a simple mechanism that does not require any special control, and can ensure positioning accuracy at low cost. In particular, it can raise and lower the arm while maintaining an accurate direction angle. Effective when needed.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing the conventional method, and Fig. 2 is a perspective view showing the conventional method.
3 is a perspective view showing an embodiment of the present invention, and FIG. 4 is a side view of FIG. 3. In the figure, 1 is a table, 2 and 3 are robots, 5 is a magazine, 6 is a shaft member, 7 is a storage section, 9 is a laminate, 9a is a hoop material, 10 is a guide pin, 11 is a holder, and 12 is a guide block. ,1
3 is a slit, 13a is a tapered part, 22, 3
2, 51 are air cylinders, 23, 33 are arms,
24 and 34 are hands, 41 is an assembly jig, and 81 is a progressive stacking type.

Claims (1)

[Claims for Utility Model Registration] A member to be supplied is gripped by a hand provided at the tip of the arm, and the arm has three degrees of freedom to move up and down, extend and contract, and rotate in a horizontal plane, and the arm is gripped by the hand. In the member supplying device for positionally moving the supplied member using the three degrees of freedom, a guide member having a vertical slit that restricts the degree of freedom of rotation in the horizontal plane is provided, and the member is moved according to the degree of freedom in the expansion and contraction direction. A guide pin inserted into the slit is provided on the arm, and when the guide pin is inserted into the slit and rotation in a horizontal plane is restricted, the arm expands and contracts as determined by the length of the guide pin and the attachment position to the arm. and a member supplying mechanism configured to be movable within the range of elevation and descent while remaining within the regulation.