JPH0443751B2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to industrial robots.

(Prior Art) Conventionally, some industrial robots are equipped with an operating arm that moves above a workpiece, and an assembly device that assembles parts such as bearings, nuts, screws, etc. onto the workpiece at the tip of this operating arm.

Therefore, when assembling multiple types of parts, the above-mentioned robot moves the operating arm to pick up the parts waiting at a parts station away from the robot, and selects the type of part depending on the position of the parts station. The parts are brought to the workpiece and assembled using tools prepared in advance, but the number of parts brought to the workpiece station is limited to one per movement of the actuating arm to the parts station. The work efficiency was poor because it required an assembly process using tools.

(Problems to be Solved by the Invention) The present invention enables continuous parts assembly work by fetching a plurality of parts from a parts station with a single movement of the actuating arm, and also sets the parts in a tool. The goal is to improve work efficiency by eliminating the process of

(Means for Solving the Problems) In order to solve the above problems, the present invention includes an actuation arm that moves between the workpiece and the parts station, and a tip of the actuation arm that transfers the parts received from the parts station to the workpiece. In an industrial robot equipped with an assembly work device, a holding means for individually receiving and temporarily holding a plurality of parts from a component station via a holder is provided near the work device, and a holder for the holding means. A holding device is provided which includes a supply means for selectively supplying a plurality of parts held by the holder to the working device while the whole is being attached to and removed from the working device.

(Embodiment) An example of an embodiment of the present invention will be described with reference to a drawing regarding an industrial robot equipped with a bearing press-fitting device. In the figure, 1 is a workpiece, and a pallet 2 and a It is placed on the base 3 and stopped at a predetermined position relative to the industrial robot B.

Industrial robot B is installed on one side of the assembly line A, and has a vertically erected column a and a column a.
The actuation arm b is connected to the upper end of the workpiece 1 and swings only within a predetermined horizontal plane above the workpiece 1.

The actuating arm b is configured to be freely bendable by a first arm b ₁ connected to the column a and a second arm b ₂ connected to the tip of the first arm b ₁ via a joint 4. .

C is a multi-bowl feeder, in which a plurality of, for example, four saucers 6 are mounted on the support 5 at intervals in the axial direction.
By vibrating each of the trays 6 independently, the bearings 7 housed in each tray 6 are aligned and moved to one side of the assembly line A via the transfer path 8.

The front ends of the transfer paths 8 from each of the receiving trays 6 in the transfer direction are aligned in a straight line, and a separation device 9 is provided at the front end to separate the bearings 7 connected to the transfer paths 8 one by one and wait.

Reference numeral 8' denotes a transfer device from other than the bowl feeder C, and its front end in the transfer direction is aligned with the transfer path 8 adjacent to it, and a separation device 9' is similarly provided at its front end.

These separating devices 9, 9' are connected to the parts station S.
It is said that

Reference numeral 10 denotes a press-fitting device for a bearing 7 provided on one side of the tip of the actuating arm b of the robot B, that is, the tip of the second arm _b2 , and is the working device of the present invention.

As shown in FIG. 3, the press-fitting device 10 includes a hydraulic cylinder 12 fixed to a second arm _b2 via a bracket 11, and a robot 1 that operates the cylinder 12.
It consists of a pressing body 13 screwed to the lower end of 2a.

Reference numeral 14 denotes a cylindrical body that fits onto the outer periphery of the pressing body 13 so as to be slidable up and down, and is supported by the pressing body 13 via a spring 15, and has a pair of locking claws protruding inward at radially symmetrical positions at the lower end. 14a is integrally provided.

Reference numeral 16 denotes a holding device for the bearings 7, which is located near the press-fitting device 10 as shown in FIGS. 4 to 6, and includes holding means for temporarily holding a plurality of bearings 7, for example, four, through a holding device; A supply means for selectively supplying the bearings 7 to the press-fitting device 10 is provided.

This holding device 16 has four holders provided at equal intervals on the outer periphery of the substrate 17 as the above-mentioned holding means. Each holder receives the bearing 7 from the component station S, temporarily holds it, and supplies it to the press-fitting device 10, and includes a chuck 18, a pushing member 27, and a stopper 28, as described later. , a spring 29, and a holding body 25. Also, the boss portion 1 at the center of the board 17
7a is connected to a rotating shaft 20 rotated by a motor 19 via a pin 21, and each holder 25 provided on the substrate 17 is made detachable from the press-fitting device 10, thereby serving as a supply means. .

The motor 19 is installed inside the second arm _b2 , and its output shaft 19a is connected to the bevel gear 22,
23 to the rotating shaft 20, and by intermittent driving, the substrate 17 is rotated 90 degrees at a time, and each holder is successively positioned on the same axis directly below the press-fitting device 10. .

Incidentally, the rotation of the base plate 17 of the supply means is stopped in relation to the operation of the robot B, that is, the movement of the operating arm b. A chuck 18 serving as a holder of the holding means is formed by providing a plurality of slits 18a in the peripheral wall of a cylindrical body made of an elastic material such as spring steel, and is fixed to a holder 25 with screws 24.

The holder 25 is removably fitted into the notch 17b of the substrate 17, and when the chuck 18 is positioned directly below the press-fitting device 10, the flange 25a at the upper end engages with the locking claw 1.
4a and is locked therein, and the protruding portion 25b at the lower end is attached to the substrate 17 via a pair of leaf springs 26.
is supported by

Reference numeral 27 denotes a pressing member that presses the bearing 7, and has a flange portion 27a at its lower end that protrudes from the outer periphery of the chuck 18.
It is sandwiched and fixed between 5 and 5.

Reference numeral 28 denotes a rising stop that prevents the work 1 from moving upward when the chuck 18 is pulled out from the bearing 7 press-fitted into the work 1, and is fitted onto the outer periphery of the pressing member 27 so as to be able to slide up and down, and is pulled downward by a spring 29. is being energized.

Thus, each chuck 18 of the holding device 16
holds bearing 7 and one chuck 18
By swinging and bending the actuating arm b while the press-fitting device 10 is positioned directly below the press-fitting device 10, the press-fitting device 10 and the chuck 18 of the holder located directly below the press-fitting device 10 are positioned at a predetermined position above the workpiece 1.

Then, by extending the hydraulic cylinder 12 in this state, the pressing body 1 is moved as shown in FIG.
3 comes into contact with the holder 25 of the holder and pushes it down.

As shown in FIG. 9, the pushed-down holder 25 has its protruding strip 25b at its lower end pushing open the spring plate 26 and coming off of it, and the collar 25a at its upper end being suspended by the locking pawl 14a, which is attached to the notch in the base plate 17. Escape from 17b.

Then, as the chuck 18 further descends together with the holder 25, the bearing 7 aligns with the recess 1a on the upper surface of the workpiece 1, as shown in FIG.

Subsequently, the flange portion 27a of the pressing member 27 presses the bearing 7, and the bearing 7 is press-fitted into the recess 1a as shown in FIG.

When the press-fitting operation is completed, the chuck 18 is pulled out from the bearing 7 by retracting the hydraulic cylinder 12. At this time, the stopper 28 is activated by the spring 29, which is stronger than the force for pulling out the chuck 18.
Press down the upward movement of workpiece 1 with the force of.

Then, when the chuck 18 is moved upward and the holder 25 is locked in the notch 17b of the board 17, the motor 19 rotates to move the chuck 18 of the next holder holding the bearing 7 directly below the press-fitting device 10. The bearings 7 are press-fitted into a new workpiece 1 or at different locations on the same workpiece 1 in the same manner as described above, and the bearings 7 held in the chucks 18 of the remaining two holders are similarly press-fitted one after another in the same manner. is press-fitted into workpiece 1.

When all four bearings 7 are press-fitted into the workpiece 1 as described above, the press-fitting device 10 and the holding device 16 are moved by the operation of the actuating arm b, and one chuck 18 of the holding device 16 is pressed into the press-fitting device 10.
At the same time, the parts station S is located directly below one separating device 9 or 9' at the front end of the transfer path 8, 8'.

Then, by extending the hydraulic cylinder 12 in this state, the chuck 18 is lowered in the same manner as the press-fitting operation of the bearing 7, and the separation device 9 is moved downward.
Alternatively, it is inserted into the inner periphery of the bearing 7 on the bearing 9' and is fitted to hold the bearing 7 elastically.

Next, by contracting the hydraulic cylinder 12, the chuck 18 is moved upward while holding the bearing 7, and the holding body 25 is moved up into the notch 1 of the base plate 17.
7b again by the spring plate 26.

When one holder holds the bearing by the chuck 18 at its tip in this way, the motor 1
9 rotates and rotates the board 17 by 90 degrees, the holder 25 of the holder comes off from the locking claw 14a, and in its place, the next chuck 18 is positioned directly below the press-fitting device 10 and held there. The body 25 is locked by the locking claw 14a.

Then, in this state, the chuck 18 of the other holder holds the bearing 7 by performing the same operation as described above.

When the replenishment of the bearings 7 to the chucks 18 of each holder is completed, the operating arm b operates to move the press-fitting device 10 and the holding device 16 to a predetermined position above the workpiece 1.

In the above embodiment, chuck 1 of the four holders
Although the chucks 8 have the same diameter and the same structure, by changing the diameter and structure of each chuck, it is possible to hold bearings of different diameters, and it is also possible to hold different types of parts.

For example, a holder as shown in FIG. 12 can be used.

The chuck 30 provided with this holder has a plurality of slits 30 on the peripheral wall of a cylindrical body whose lower end is widened in a tapered shape.
a, and the outer circumferential surface of a cylindrical component 31 such as a bush or a collar is elastically held on the inside thereof.

The chuck 30 is fitted onto the outer periphery of a pressing member 33 fixed to a holder 32 so as to be slidable up and down, and is biased downward by a spring 34.

Therefore, when the component 31 is press-fitted into the workpiece 1, the chuck 30 relatively moves upward and detaches from the component 31, so it can be used for other than press-fitting work, that is, for insertion work in which the member 31 is lightly fitted into a recess or the like. .

(Effects of the Invention) Since the invention is configured as described above, a plurality of parts can be individually held by the holding means of the holding device via the holding tool by one movement of the actuating arm to the parts station, and the supply means By selectively supplying a plurality of parts held by the holder to the working device while attaching and detaching the entire holder to the working device, the work of assembling the parts to the workpiece is carried out by the holding device. This can be carried out continuously for the number of parts held by the holder, which improves work efficiency compared to picking up parts one by one.

Further, by allowing the holder of the holding means to hold a plurality of different types of parts, there is an effect that the work of assembling different types of parts to different workpieces can be performed continuously.

Further, when the holding means receives a part from the parts station, the part is set in a holder configured as a tool for holding the part and is supplied as is to the working device, so that the part received is This eliminates the step of resetting the tool onto the tool, thereby shortening the time required to start work and improving work efficiency as a whole.

[Brief explanation of drawings]

Fig. 1 is a front view showing the robot of the present invention, Fig. 2 is an enlarged front view of the main parts, Fig. 3 is a partially cutaway side view showing the main parts enlarged, and Fig. 4 is the - line of Fig. 3. 5 is a sectional view taken along the - line in FIG. 4, FIG. 6 is a sectional view taken along the - line in FIG. FIG. 3 is a sectional view showing a modification of the chuck. In the figure, B...industrial robot, b...operating arm, 1...workpiece, 10...press-fitting device (work device),
16... Holding device, 7... Bearing, 17... Substrate,
18, 30...Chuck.

Claims (1)

[Claims] 1. An industrial robot equipped with an actuation arm that moves between a workpiece and a parts station, and a working device at the tip of the actuating arm that assembles the parts received from the parts station onto the workpiece, in which the parts are mounted near the working device. A holding means for individually receiving and temporarily holding a plurality of parts from a station via a holder, and a plurality of parts held by the holder while the entire holding fitting of the holding means is attached to and removed from a working device. A structure provided with a holding device consisting of a supply means for selectively supplying water to a working device.