JPH0433710B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention supplies a coil bobbin to an automatic winding machine from a transported parts storage case etc. using a robot, and automatically winds the coil bobbin after winding. This invention relates to an automatic feeding and discharging method for coil bobbins that are transferred from a wire machine to a coil bobbin carrier or the like.

(Prior Art) Conventionally, this type of coil bobbin supply and discharge has been performed manually.

When the coil bobbins are carried in front of the worker on a belt conveyor, the worker picks up the coil bobbins one by one, inserts them into the multiple bobbin holding chucks of the automatic winding machine, and holds them all. After the insertion is completed, winding is performed using an automatic winding machine.

When the predetermined winding is completed, the same worker removes the wound bobbins one by one from the automatic winding machine, arranges them in a component storage case, etc. in an orientation that is easy to work with in the next process.

The storage cases and the like are sent to the location where the next process will be performed.

(Problems to be Solved by the Invention) In recent years, winding work has been automated, and winding machines capable of simultaneously winding a plurality of coils have become widespread. Nevertheless, in the conventional coil bobbin feeding and discharging method described above, everything is done manually, so the operator does not have to feed the coil bobbin to the automatic winding machine and discharge the wound bobbin one by one. It is unreasonable not to do so.

Moreover, as coils become smaller and more complex, it has become difficult to perform these operations quickly and accurately.

Furthermore, it is necessary to allocate at least one worker to each automatic winding machine, which poses problems such as the inability to rationalize production.

In order to solve this problem, it is conceivable to automate the conventional manual work of feeding and discharging coil bobbins using robots, but in the case of a winding machine, the posture of the coil bobbin when it is fed and discharged from the winding machine is The posture in which the wires are aligned before supplying and the posture held in the winding machine during winding are different, and the posture in which they are aligned on the carrier after winding, or the posture suitable for subsequent terminal soldering work, etc. Since these are different, it is difficult to have a normal robot perform the manual work of supplying and discharging the coil bobbin.

Although it is possible to reverse the posture of each coil bobbin individually using a double-hand robot as shown in ``Method for Reversing Workpiece Transfer'' in Japanese Patent Application Laid-open No. 58-15691, It is absolutely impossible for a special robot to process multiple coil bobbins at the same time.

Furthermore, since the structure of the robot is complicated, it is difficult to control the positioning of a small coil bobbin.

The purpose of the present invention is to solve these drawbacks and improve mass production efficiency by completely automating the integrated work of supplying multiple coil bobbins to an automatic winding machine, automatic winding, and discharging the wound coil bobbins. An object of the present invention is to provide a method for supplying and discharging coil bobbins that is much more streamlined in production than in the past.

(Means for Solving the Problems) The method for supplying and discharging a coil bobbin according to the present invention for achieving the above object will be summarized as follows in conjunction with embodiments.

The coil bobbin feeding and discharging method according to the present invention includes a coil bobbin transfer means 2 which supports the coil bobbin 4 before being processed by the winding machine 1 at a first position and receives the coil bobbin after being processed by the winding machine 1 at a second position; 21, and a knob head 33 having a plurality of fingers 32 which are arranged at equal intervals and each grip the coil bobbin 4 at the same time, and the direction of the knob head 33 can be changed in two directions, horizontally and vertically, and the position of the knob head 33 can be changed. a robot 3 that can be moved in three directions: up and down, left and right, and front and rear; a first operation in which the robot 3 is controlled to supply the coil bobbin 4 from the first position to the winding machine 1; A coil bobbin 4 supply comprising an electronic control device for robot control that performs a second operation of removing the coil bobbin 4 processed by the winding machine and moving it to a second predetermined position. In the discharging method, an intermediate pin stand 14 having a plurality of pins for temporarily holding the coil bobbin 4 at a position corresponding to the finger 32 is provided between the winding machine and the coil bobbin transfer means, and the first operation Alternatively, in the process of the second operation, the robot is further controlled by the electronic control device, and the coil bobbin 4 held by the finger 32 of the robot is once transferred to the intermediate pin stand 14, and the finger 32 is released to remove the coil bobbin 4. After the fingers 32 and the coil bobbin are separated from each other, the position of the coil bobbin 4 is changed by inserting an operation in which the relative positions of the fingers 32 and the coil bobbin are re-grasped in a position different from the state before the fingers were released. ” (Example) Next, the present invention will be described with reference to the drawings.
FIG. 1 shows the arrangement of each device related to a coil bobbin supply and discharge method according to an embodiment of the present invention.
Figure a is a plan view thereof, and figure b is a front view thereof.

As shown in Figures a and b, the winding machine 1, pallet supply device 2, and robot 3 that make up this system
However, the pedestal 11 of the winding machine 1, the pallet supply device 2,
The pedestals 31 of the robots 3 are installed on the floor in this order.

The winding machine 1 moves in the same direction as indicated by the arrows in Fig. 1b.
It can be rotated by 180 degrees, and in this embodiment, eight bobbin holders 12 are provided on each side, one on the side facing the pallet supply device 2 and the other on the opposite side with the rotating shaft 13 as the axis of symmetry. While the coil bobbin 4 is being fed and discharged on the pallet feeding device side, winding is being done on the opposite side.

The intermediate pin stand 14 is fixed to one corner of the pedestal 11 on which the winding machine 1 is attached.

When the wound bobbin 4 is directly sent to an automatic soldering machine for the next process of soldering, it cannot be soldered immediately because the vertical orientation is different by 180°.

Therefore, in order to change the direction of the coil bobbin 4 by 180 degrees at the end of the winding process, this intermediate pin stand 1
4 is installed.

The pallet feeding device 2 has two pallet moving mechanisms. In other words, there are empty bobbins 4 on the pallet 21.
A large number of well-arranged pallets are stacked and built in, and then the pallets are raised to the top pallet 21.
The empty bobbin supply unit 22 is held at a first position near the top surface of the pallet supply device 2, and the coil bobbin 4 that has been wound is received from the robot to the pallet at a second position at the same height as the first position. , and a wound bobbin discharge section 23 that lowers and discharges the pallet.

A shuttle plate 24 shown in FIG.
5b is fitted.

The robot 3 has a knob head 33 having four sets of fingers 32 for gripping the coil bobbin.

The knob head 33 is configured so that the extending direction of the finger 32 can be rotated by 90° between two directions: horizontal (forward) and vertical (directly below).

The position of the knob head 33 is indicated by the arrow X in the figure.
The left and right direction shown by and the front and back direction shown by arrow Y in the figure,
It can be moved up and down as indicated by arrow Z in the figure.

FIG. 3 shows an example of the structure of the knob head portion of the robot 3.

In FIG. 3, 34 is a cylinder for rotating the knob head 33 by 90 degrees with respect to the arm of the robot 3. By adjusting the amount of air sent to the cylinder 34, the finger 32 at the tip of the knob head 33 and the coil bobbin insertion part 38 are moved as shown by the arrow in FIG. .

In FIG. 3, numeral 35 is a cylinder for opening and closing the fingers 32, and by adjusting the amount of air sent to the cylinder 35, a pair of opposing fingers 32 and 32 can be connected.
The distance between the two can be made wider or narrower.

In Fig. 3, 36 is a cylinder for moving the pair of fingers 32, 32 back and forth, and by adjusting the amount of air sent to the cylinder 36, the position of the fingers can be pulled toward you or extended forward. .

3 is a cylinder for moving the coil bobbin insertion part 38 back and forth. By adjusting the air sent to the cylinder 37, the coil bobbin insertion part 3
You can pull 7 toward you or extend it forward.

In this way, the finger 32 and the coil bobbin insertion part 38 can be moved independently, so for example, when grasping the coil bobbin 4 inserted into the pin guide 25a, first move the finger 32 and the coil bobbin insertion part 38 independently.
, extend the coil bobbin insertion part 38, and insert the tip of the pin guide 25a and the coil bobbin insertion part 38.
The coil bobbin 4 is inserted and held in the coil bobbin insertion part 38 by butting them together, then extending the fingers 32, closing the fingers 32 and pinching the coil bobbin 4, and then pulling the fingers 32 toward you.

Next, a series of operations of the robot 3 will be explained in the following sections (A) to (Y) along with operations of other related parts.

(a) First, the adjacent fingers 32 of the robot 3,
A pallet 21 has eight empty coil bobbins 4 lined up in a row horizontally at half the center line spacing of 32, and a large number of similar columns lined up vertically.
A large number of pallets are stacked and stored in the empty bobbin supply section 22 of the pallet supply device 2, and a platform that supports the group from below is pushed upward.

When the uppermost pallet 21 reaches a position (first position) corresponding to the upper surface of the pallet supply device 2, the uppermost pallet 21 is lowered downward.

(b) The robot 3 moves the pick head 33 with the tip of the finger 32 facing down directly above the empty coil bobbin 4 that is inserted into the guide pin 25a of the shuttle plate 24 of the pallet 21 and is about to be picked up. , lower the knob head 33, and when the finger 32 is vertical, remove the coil bobbin 4.
Pick up.

At this time, every other four coil bobbins placed on the pallet 21 are picked up at the same time.

(c) Next, the robot 3 turns the knob head 33 by 90 degrees, and with the finger 32 in the horizontal direction, the robot 3 moves the winding machine 1
move to a position opposite to the bobbin holder 12,
Open the finger 32 and remove the four coil bobbins 4.
are inserted into the bobbin holder 12 all at once.

(d) After first picking up the coil bobbins 4 from the pallet 21, remove every other four coil bobbins 4 remaining from the winding machine 1 by performing the same operations as in (b) and (c). The bobbin holders 12 are inserted all at once into the uninserted bobbin holders 12.

(e) When the empty coil bobbins 4 are inserted into all eight bobbin holders 12 of the winding machine 1, the winding machine 1
is rotated 180 degrees, and the bobbin holder 12, which had been facing the robot up until now, is turned to the opposite side from the robot 3, and eight windings are performed at once.

(F) When the winding is finished, the winding machine 1 further rotates 180°, and the coil bobbin 4, which has already been wound, is directed toward the robot.

(G) The robot 3 moves to the position 32a shown by the two-dot chain line in FIG. 4 with the finger 32 facing downward.
Pinch the four ends of the coil bobbin 4 that has already been wound, and remove them all at once from the winding machine.

(The position of the finger 32 at this time is 32b shown by the two-dot chain line in Fig. 4.) (H) Rotate the knob head 33 by 90 degrees to
2 from 32b to 32c in Figure 4,
Make it horizontal. By doing this, the direction of the lead wire 4a, which was directed toward the robot immediately after being removed from the bobbin holder 12 of the winding machine 1, is changed downward.

(li) Lower the position of the knob head 33 and transfer the four coil bobbins 4 all at once to the intermediate pin stand while keeping the same orientation. This is because, due to the mechanism of the robot 3, it is not possible to insert the coil bobbin 4 into the guide pin 25b of the shuttle plate 24 placed on the pallet 21 with the finger 32 in a horizontal orientation, so the intermediate pin stand is used as a relay. be.

(N) Rotate the knob head 33 by 90 degrees and turn the finger 32
vertically, pick up the four coil bobbins 4 from above (at this time, the finger position is 32e indicated by the two-dot chain line in the figure), and pick up the second coil bobbin 4 at the top of the wound bobbin discharge section 23 in FIG. They are inserted all at once into predetermined guide pins 25b of the shuttle plate 24 disposed on the pallet 21 held at the position shown in FIG.

(The position of the finger at this time is 32f as shown by the two-dot chain line in Fig. 4.) (l) The remaining four of the bobbin holders 12 of the winding machine 1 contain four already wound coil bobbins 4. Since the remaining coil bobbins 4 remain, these four coil bobbins 4 are also inserted into the predetermined guide pins 25b of the pallet 21 at the second position by the same operations as in items (g) to (v).

(w) After all the coil bobbins 4 that have been wound have been removed, return to the operation in section (b), perform the operations from section (b) to section (l), and repeat this process.

(W) When the wound coil bobbins 4 are placed in all the predetermined positions of the pallet 21 in the second position, the lock of the pallet 21 is released and the pallet 21 is lowered and discharged to the outside of the pallet supply device 2. .

(f) When the operation mentioned in (v) above is performed, the first
Since all the coil bobbins 4 have already been removed from the pallet 21 at the position, the lock is released and the pallet 21 is picked up by the fingers of the robot 3 and moved to the second position, and the next coil bobbin with wires is placed on the pallet 21. Let 4 be a well-arranged palette.

(Y) Return to the operation in item (a) above and repeat the operations in item (a) and the following items.

Note that after completing the operations from (g) to (f), and while the operations from (b) to (d) are being performed, the bobbin holder 12 in the winding machine 1 is Since they are installed in equal numbers symmetrically around the rotation axis of machine 1,
Winding operations are being performed simultaneously on the coil bobbin on the other side.

The above is an outline of the operation of the embodiment according to the present invention, and all these operations are performed by computer control, and the controller is built in either the winding machine 1 or the robot 3, or is built in an independent operation section. do.

Note that the number of fingers 32 that the robot 3 has,
shape, shape of coil bobbin insertion part and other parts, number of bobbin holders 12 of winding machine 1, intermediate pin stand 1
The number and shape of the pins 4 may be different from those shown in FIGS. 1 to 4. For example, if the number of fingers of the robot 3 is the same as that of the bobbin holder 12 of the winding machine 1, the speed of feeding and discharging the coil bobbin 4 may be different. It is possible to raise the

Also, due to the stroke of the robot 3 in the longitudinal direction (Y-axis) and the arrangement of the robot 3 and the winding machine 1, the fingers 32 of the robot 3 are held in the bobbin holder 12 of the winding machine 1 in a vertical state. If it is difficult to grasp the coil bobbin 4 with wires wound on it, you can remove the coil bobbin 4 by grasping it with the fingers 32 in a horizontal position as shown in FIG. In addition to the vertical guide pin 14v as shown in the figure, the horizontal guide pin 14
h is provided, and instead of the operations from (g) to (li) in the operation description above, the following operation (t) may be performed.

(T) With the finger 32 of the robot 3 in a horizontal state, the knob head 33 is attached to the bobbin 1 of the winding machine 1.
2 (at this time, the finger position is 32g in the figure), and place the coil bobbin 4 which has already been wound
, remove the coil bobbin 4 all at once from the winding machine, move the knob head 33 to the front of the horizontal pin guide 14h of the intermediate pin stand, and remove the coil bobbin 4 from the winding machine.
are inserted into the horizontal pin guide 14h all at once.

Next, turn the knob head 90 degrees to make the finger 32 vertical (at this time, the finger position is 32h in FIG. While holding the coil bobbin 4 in the finger 32, turn the knob head 90 degrees again to make it horizontal (at this time, the finger position is 32i in Fig. 5), and then attach it to the vertical pin guide 14v of the intermediate pin stand 14 Insert the coil bobbin 4. In this way, immediately after the lead wire 4a is removed from the bobbin holder 12 of the winding machine, the direction of the lead wire 4a, which was facing the robot side, can be changed downward. Then, all you have to do is perform the same operation as in section (J). (The position of the finger at this time is 32j in Fig. 5.) The operations in items (H) to (R), or the operation in item (T) should be performed after the winding is completed, before the next soldering. This is to change the orientation of the coil bobbin 4 in advance, since it is necessary to dip the coil bobbin 4 into molten solder with the side with the lead wire 4a facing downward in the process.

Therefore, if the coil bobbin 4 is placed directly on a conveyor line and conveyed to align the orientation of the coil bobbin 4 in the direction suitable for soldering immediately before the next soldering process, items (H) to ( li)
The operation of the term and the operation of the (t) term are not required.

Furthermore, the operation in (W) in which the robot 3 transfers the pallet 21 in the first position from which all the coil bobbins 4 have been removed to the second position is not performed by the robot 3, but is performed by the internal mechanism of the pallet supply device 2. You can do it manually, or you can just do this part by hand.

There are various shapes and sizes of the coil bobbin 4 other than those shown in the figure, and any of them may be used.However, with the coil bobbin 4 inserted into the jig, one end of the jig is If you want to attach the coil bobbin 4 to the bobbin holder 1 and wind it, you may transfer the coil bobbin 4 between the knob head 33 of the robot 3 and the bobbin holder of the winding machine 1 with the coil bobbin 4 inserted in the transfer jig. .

(Effects of the Invention) As explained above, the present invention automatically creates a robot with a simple structure in which a knob head having multiple sets of fingers changes its direction by 90 degrees and moves in three directions: up and down, left and right, and front and back. It is operated by electronic control in synchronization with the operation of the winding machine, supplies empty coil bobbins to the winding machine, and also removes the finished coil bobbin from the winding machine and moves it to a predetermined position. Let it happen.

Since it is necessary to change the posture of the coil bobbin during these operations, it is possible to hold the coil bobbin in a specially provided intermediate pin stand, then grasp it again in a different relative posture and move it to a predetermined position. This has the effect of automating the conventional manual operation of feeding and discharging the coil bobbin.

Therefore, according to the method of the present invention, the entire process of processing a plurality of coils at once is automated, including the supply of coil bobbins to an automatic winding machine, automatic winding, and discharge of wound coils. It has the effect of increasing mass production efficiency, streamlining production, and playing a major role in realizing unmanned factories.

[Brief explanation of drawings]

FIG. 1 is a layout diagram of various devices related to an embodiment of the coil bobbin supply and discharge method according to the present invention. FIG. 2 is an enlarged view showing the shuttle plate arranged on the pallet and the pin guide into which the coil bobbin is inserted. FIG. 3 is an explanatory diagram showing the structure of the robot's knob head. FIG. 4 is an explanatory diagram showing how the intermediate pin stand is used when one guide pin of the intermediate pin stand is installed vertically. FIG. 5 is an explanatory diagram showing how the intermediate pin stand is used when the guide pins of the intermediate pin stand are attached in the vertical and horizontal directions. 1... Winding machine, 2... Pallet supply device, 3...
...Robot, 4...Coil bobbin, 4a...Lead wire, 11...Base of winding machine, 12...Bobbin holder, 13...Rotating shaft, 14...Intermediate pin stand, 21...Pallet, 22... ...Empty bobbin supply section, 23...Wound bobbin discharge section, 24...Shuttle plate, 25a, 25b...Guide pin, 31
...Robot pedestal, 32...Finger, 33...
...Knob head, 34, 35, 36, 37...Cylinder, 38...Coil bobbin insertion part.

Claims (1)

[Scope of Claims] 1. Coil bobbin transfer means that supports the coil bobbin before being processed by the winding machine at a first position and receives the coil bobbin after being processed by the winding machine at a second position; The coil bobbin has a knob head equipped with a plurality of fingers that simultaneously grip the coil bobbin, and the direction of the knob head can be changed in two directions, horizontal and vertical, and the position of the knob head can be moved in three directions: up and down, left and right, and front and back. a first operation of controlling the robot to supply a coil bobbin from the first position to the winding machine; and a first operation of controlling the robot to supply the coil bobbin from the first position to the winding machine; A method for supplying and discharging a coil bobbin, comprising an electronic control device for controlling a robot, which performs a second operation of removing the coil bobbin from the winding machine and moving the coil bobbin to a second predetermined position, the coil bobbin transfer means and an intermediate pin stand having a plurality of pins for temporarily holding the coil bobbin at positions corresponding to the fingers is provided between the robot and the robot; The coil bobbin stored by the finger of the robot is once transferred to the intermediate pin stand, and after the finger is released and separated from the coil bobbin, the relative posture of the finger and the coil bobbin is different from the state before the finger was released. A method for supplying and discharging a coil bobbin, the method comprising: changing the posture of the coil bobbin by inserting a correction operation.