JPH0536343B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides a robot for supplying bobbins to winding-related devices such as automatic winding machines, automatic taping machines, or automatic soldering machines, and for performing predetermined processing. The present invention relates to a method for changing the posture of a bobbin by 180 degrees when loading and unloading the bobbin in an automatic loading and unloading system that transfers the bobbin from these devices to a bobbin carrier.

(Prior Art) Conventionally, bobbins are fed and discharged manually into a winding machine or the like for making coils.

When the bobbin is carried in front of the worker on a belt conveyor, the worker picks up the bobbin by hand, inserts it into the bobbin chuck of the automatic winding machine, and holds it in the bobbin chuck of the automatic winding machine. Generally, the finished bobbins are manually removed from the automatic winding machine and arranged in a parts storage case or the like in an orientation that is easy to work with in the next process.

In this way, all bobbin feeding and discharging is done manually, so even if it was necessary to change the orientation of the bobbin midway through, this work was naturally done manually.

The above also applies to the supply and discharge of the bobbin to each device used in processes such as winding the terminal after winding, taping the winding exterior, and soldering the terminal. It is.

(Problem to be solved by the invention) In recent years, winding work and soldering work of winding terminals have been automated, and it has become possible to process multiple bobbins at the same time. It is being considered that robots can automatically supply and discharge bobbins. In the process of feeding and discharging the bobbin, it may be necessary to change the orientation of the bobbin by 180 degrees in preparation for the next process. For example, when transporting bobbins from one process to the next, it is convenient to arrange them with the side with terminals facing up and the flat side without protrusions such as terminals facing down; however, in the soldering process it is convenient It is better to position the terminal with the terminal facing down so that it is easier to dip the terminal into the molten solder from below, so a 180° position change is required between these positions.

However, when operating a bobbin on a robot, it may be necessary to pick up the bobbin from a flat surface, move it to another location, and install it, or remove the bobbin from one location upwards or toward you, and then move it to another location and place it on a flat surface. It is easy to change the position of the bobbin by 90° while placing it in the
There is a problem in that it is often impossible to place the robot on a flat surface or place it in the desired location because the arm of the robot itself or some of the other parts that make up the robot get in the way.

The present invention solves these problems, and by using an intermediate pin stand, a robot with the function of rotating a normal robot hand by 90 degrees can be used for automatic winding machines, automatic taping machines, and automatic soldering equipment. While feeding and discharging the bobbin to winding-related equipment such as
The purpose of the present invention is to provide a method for changing the bobbin posture during feeding and discharging so that the bobbin posture can be changed by 180 degrees.

(Means for Solving the Problem) In order to achieve the above-mentioned object, the method for changing the bobbin posture during feeding and discharging according to the present invention, when feeding and discharging the bobbin to the winding-related device by the robot, at least changes the orientation of the tip of the robot hand. A robot capable of changing the angle by 90 degrees, and an intermediate pin stand placed near the winding-related device to temporarily support the bobbin being supplied to and discharged from the winding-related device, the intermediate pin stand having at least the above-mentioned It has a guide pin in which the direction in which the winding-related device holds the bobbin when feeding and discharging it differs by 90 degrees from the direction in which the bobbin is supported, and after the robot supports the bobbin on the guide pin of the intermediate pin stand, By including the operation of changing the direction of the tip of the robot hand of the robot by 90 degrees and then taking out the coil bobbin from the guide pin in the bobbin supply/discharge operation of the winding-related device, the coil bobbin can be fed to the winding-related device before being supplied to the winding-related device. The method is to convert the orientation of the bobbin after discharge by 180 degrees with respect to the orientation of the bobbin.

(Example) Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory diagram showing one embodiment of the present invention. 2 is a schematic plan view and a front view showing the arrangement of equipment used to carry out the embodiment of FIG. 1. FIG.

In FIG. 1a, the robot 3 uses the fingers 6a of the robot hand 6 to pick up the coil bobbin 4 that is fitted into the guide pin 15a that is fitted into the shuttle 13 arranged on the alignment and supply device 2 shown in FIG. , shows the process of holding the wire in the bobbin chuck 17 of the winding machine 1.

FIG. 1b shows the coil bobbin, which has been wound in the winding machine 1, removed from the bobbin chuck 17 of the winding machine 1, changed its position using the intermediate pin stand 14 as an intermediary, and the shuttles 1 arranged in the alignment and discharge device 12.
3 shows the process up to insertion into the guide pin 15b of No. 3.

The winding machine 1 shown in Fig. 2 rotates twice in succession by 90° in the same direction indicated by the arrow in Fig. 2, and by a total of 180° in one operation. With the shaft 18 as the axis of symmetry, there are provided on the side facing the alignment supply device 2 and on the opposite side thereof, and the side 12 is provided on the side toward the alignment supply device 2 and the alignment discharge device side 12.
While the coil bobbin 4 is being supplied and discharged,
Winding is arranged on the opposite side.

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

When the wound coil bobbin 4 is grabbed by the robot hand 6 and sent to the automatic soldering machine for the next process, the vertical direction is corrected.
Because they differ by 180°, soldering cannot be done immediately.

Therefore, at the end of the winding process, the orientation of the coil bobbin 4 is changed by 180 degrees when placed on the alignment and discharge device compared to the attitude when placed on the alignment and supply device 2 by the method according to the present invention. Therefore, this intermediate pin stand is provided.

As shown in FIG. 1b, the intermediate pin stand has a horizontal guide pin 14h for horizontally inserting and temporarily supporting the coil bobbin 4 in this embodiment, and a vertical guide pin 14v for vertically inserting and temporarily supporting the coil bobbin 4. Fixed.

The robot 3 moves the robot hand 6 to the second position.
The drive device 8 can be moved in the left-right direction shown by the arrow
is the direction of the tip of the robot hand 6 horizontally (in front) and vertically (directly below) with respect to the robot hand support frame 7.
It can be rotated 90° between two orientations.

FIG. 3 shows the coil bobbin 4 being moved in the embodiment of FIG. 1 and the coil bobbin being moved by a robot hand 6.
and the bobbin chuck 17 of the winding machine 1.
FIG. 2 is a perspective view showing the outer shape of a delivery jig (hereinafter referred to as a jig) 5 for delivering and delivering the goods.

4 shows the coil bobbin 4 held in the bobbin chuck 17 of the winding machine 1 and the robot hand 6, and FIG. 5 shows the coil bobbin 4 inserted into the guide pins 15a and 15b of the shuttle 13. ing.

The jig 5 shown in FIG. 3b serves to prevent deformation of the winding core inserted during winding and when gripped by the fingers 6a of the robot hand 6 due to insufficient strength of the bobbin when the shape of the coil bobbin 4 is reduced. The coil bobbin 4 is transferred between the bobbin chuck 17 of the winding machine 1 and the robot hand 6 with the bobbin insertion portion 5b inserted into the hollow portion 4b of the coil bobbin 4.

For reference, FIG. 4a shows a state in which the coil bobbin 4 is held by the bobbin chuck 17 of the winding machine 1, and FIG. 4b shows a state in which the coil bobbin 4 is held by the robot hand 6.

As partially shown in FIG. 4b, the robot hand 6 has a pair of fingers 6a facing each other,
A work holder 6b is provided.

The fingers 6a and the work holder 6b can move forward and backward toward the tip of the robot hand 6 independently, and the pair of fingers 6a can hold the coil bobbin 4 alone or with the coil bobbin 4 inserted into the jig 5. Furthermore, the held portion 5a of the jig 5 can be inserted into a hole provided in the work holder 6b and locked by the shutter plate 6c.

Next, a method for changing the attitude of the coil bobbin 4 shown in FIG. 1 will be explained step by step.

For example, as shown in FIG. 5a, the coil bobbin 4 inserted into the guide pin 15a is
When picking up the tip with the finger tip finger 6a, first point the tip of the robot hand 6 downward
, and position the tip of the bobbin insertion part 5b of the jig 5 held on the work holder 6b using the guide pin 15a.
Align it with the tip of the

Next, the fingers 6a are extended to the position of the cylindrical part of the coil bobbin 4 (20a in FIG. 3a) is fitted into the bobbin insertion part 5b of the jig 5, the coil bobbin 4 is moved to the robot hand side, and the bobbin insertion part 5b and the finger 6 are fitted.
It is held by a and can be picked up.

Next, when feeding the empty coil bobbin 4 held in this way to the winding machine 1, the posture of the fingers is changed from 20b to 20c as shown in FIG. 1a.
After turning the robot hand 6 by 90 degrees and making it horizontal, move the robot body so that the tip of the bobbin insertion part 5b of the jig 5 directly faces the bobbin chuck 17 of the winding 1 and the bobbin holding part, and then move the coil bobbin 4 to the jig. At the same time, the bobbin chuck 17 is held as shown in FIG. 4a.

Winding 1 rotates 180 degrees, winding is performed on bobbin 4 that is still fed into the jig on the opposite side from the robot, and when it rotates 180 degrees again and returns to the robot side, the winding is completed. The coil bobbin 4 and the jig 5 are removed from the bobbin chuck. Finger 6a at this time
The orientation is shown at 21a in FIG. 1b, and the held state is shown in FIG. 4b.

Next, in order to use the intermediate pin stand 14 to turn the coil bobbin 4 upside down compared to when it was placed on the shuttle of the alignment and supply device 2, the coil bobbin 4 and the jig 5 were removed from the bobbin chuck 17, and then the robot hand 6, the tip of the bobbin insertion part 5b of the jig 5 held by the robot hand 6 is moved to a position directly facing the tip of the horizontal pin guide 14h of the intermediate pin stand 14 shown in FIG. 1b. , the jig 5 is connected to the robot hand 6
When the finger 6a is pushed out to the intermediate pin stand 14 side while being locked to the side, and the finger 6a is opened, the jig 5 remains on the robot hand 6 side while being held by the work holder 6b, and the coil bobbin 4
Only the horizontal pin guide 4 of the intermediate pin stand 14
inserted into h.

Here, change the direction of the robot hand 6 from horizontal to 21.
As shown in b, rotate the finger 6a downward by 90 degrees to move the finger 6a to the position of the coil bobbin 4, close the finger 6a to hold the coil bobbin 4, and then move the finger 6a to the position of the coil bobbin 4.
Pull it out to the position.

Here, the robot hand 6 is turned 90 degrees from downward as shown in FIG. When the robot hand 6 is moved and the robot hand 6 is lowered, the vertical guide pin 14v is inserted into the bobbin hollow portion 4b of the coil bobbin 4.

If the finger 6a is opened and the robot hand 6 is raised, the coil bobbin 4 remains on the vertical guide pin 14v.

At this time, the orientation of the coil bobbin 4 is already upside down compared to the orientation when the finger 6 is at the position 20a in FIG. 1a.

After that, in the same way as when picking up the coil bobbin 4 from the state shown in Fig. 5a, turn the robot hand downward, pick up the coil bobbin 4 from the vertical guide pin 14v, and place it in the alignment and discharge device 12 as shown in Fig. 1b. Guide pin 15b into which the coil bobbin 4 on the arranged shuttle plate 13 is inserted
If the coil bobbin 4 is moved to the position shown in FIG. 5B and the coil bobbin 4 is moved to the guide pin 15b by performing the reverse operation, the coil bobbin 4 is inserted with the lead wire 4a on the lower side as shown in FIG. 5B.

This attitude is shown in FIG. 5b, and the alignment supply device 2
Empty coil bobbin 4 shown in Figure 5a placed above
Compared to the posture of , the vertical direction is reversed.

For convenience of explanation, Figures 1a and 1b show the coil bobbin 4 inserted into each guide pin or the bobbin insertion part of the jig. There is never a coil bobbin.

Furthermore, in this embodiment, due to the stroke of the robot 3 in the longitudinal direction (Y-axis direction) and the arrangement of the robot 3 and the winding machine 1, the finger 6a of the robot hand 6 is vertical, and the bobbin chuck 17 of the winding machine 1 is Since it is difficult to grasp the coil bobbin 4 which is held at Furthermore, the direction of the coil bobbin 4 that has already been wound and removed from the winding machine 1 can be changed more easily by using the intermediate pin stand 14 having only the vertical pin guide 14v.

In FIG. 6, hold the coil bobbin 4 with the finger 6 oriented vertically as 22a, and 22b
Move the robot hand 6 back to 90° as shown.
The coil bobbin 4 is rotated so that the direction of the finger 6 is horizontal as shown in 22c, and the bobbin hollow portion 4b of the coil bobbin 4 is inserted into the vertical guide pin 14v of the intermediate pin stand 14 as shown in 22d.

All that is left to do is to change the orientation of the fingers 6 vertically and do the same as in FIG. 1b, and insert them into the guide pins 15b on the shuttle 13 of the aligning and discharging device 12 as shown at 22e to 22f in FIG.

In the case of the embodiment shown in Fig. 6, no jig is used to transfer the coil bobbin 4, and the fingers of the robot hand are not bent into an L-shape as shown in Figs. 1 and 4b, but are straight. A simple piece with a straight shape is used.

Although not particularly shown, depending on the shape of the coil bobbin, a shuttle 13 as shown in FIGS. 5a and 5b may be used.
There is no need to insert it into the upper guide pins 15a, 15b, etc., and there are some that are placed in a frame divided by linear protrusions on a pallet for feeding and discharging bobbins.
In this case, the same method can be used to reverse the vertical direction of the supplied empty bobbin between the time it is wound and the time it is placed on the pallet for discharge.

Furthermore, depending on the structure of the winding machine, a posture change operation using the intermediate pin stand 14 may be performed before winding, or for applying an exterior to a coil bobbin that has already been wound. This bobbin attitude changing method can be widely implemented before and after taping with a taping machine, or before a soldering operation with an automatic soldering device.

(Effects of the Invention) As explained above, the bobbin posture changing method during feeding and discharging of the present invention uses a robot that can change the direction of the robot hand by 90 degrees, and a winding-related device for temporarily supporting the bobbin. By using an intermediate pin stand that has a guide pin whose supporting direction is 90 degrees different from the direction in which the bobbin is held during bobbin loading and unloading, and by changing the direction of the robot hands before and after the intermediate pin stand temporarily supports the bobbin by 90 degrees, In combination with changing the direction of the bobbin by 90 degrees to the direction of the picked-up bobbin robot hand, the direction of the bobbin can be changed 180 degrees during the operation of supplying and discharging the bobbin to winding-related devices. Therefore, when it is necessary to change the position of the bobbin from the position of the bobbin that makes it easier to wind the wire to the position of the terminal with the terminal facing downward to make it easier to perform the winding, such as when soldering the winding terminal after winding, etc. There is no need for the troublesome operation of changing the orientation of the bobbin between the wiring process and the soldering process.

Bobbin feeding, winding, winding bobbin discharge,
It becomes possible to automate integrated work such as soldering terminals, which has the effect of improving mass production efficiency and helping streamline production.

[Brief explanation of the drawing]

Fig. 1 shows an embodiment of the present invention, in which Fig. 1a shows the relationship between the bobbin and the finger of the robot hand when the bobbin is fed to the winding machine, and Fig. 1b shows the relationship between the bobbin and the robot hand finger when the bobbin is discharged from the winding machine. FIG. Second
The figures are schematic diagrams of a plan view and a front view showing the arrangement of equipment used in the embodiment of FIG. 1. FIG. 3 is a perspective view showing the coil bobbin and the delivery jig that are moved in the embodiment of FIG. 1. FIG. 4 is a front view showing the coil bobbin held in the bobbin chuck of the winding machine and the robot hand. FIG. 5 is a front view showing a state in which the coil bobbin is inserted into the guide pin of the shuttle on the alignment supply device and the alignment discharge device. FIG. 6 is an explanatory diagram showing the relationship between the bobbin and the fingers of the robot hand when the bobbin is discharged from the winding machine of another embodiment different from that shown in FIG. 1. DESCRIPTION OF SYMBOLS 1...Winding machine, 2...Alignment supply device, 3...Robot, 4...Coil bobbin, 4a...Lead wire, 4b...Bobbin hollow part, 5...Jig, 5a...
...Holded part, 5b... Bobbin insertion part, 6... Robot hand, 6a... Finger, 6b... Work holder, 6c... Shutter, 7... Robot hand support frame, 8... Drive device, 12... ...Alignment and discharge device, 13...Shuttle, 14...Intermediate pin stand, 14h...Horizontal guide pin, 14v...Vertical guide pin, 15a, 15b, 16...Guide pin, 17...Bobbin chuck, 18...Rotation shaft,
20a, 20b, 20c, 20d, 21a, 21
b, 21c, 21d, 22a, 22b, 22c,
22d, 22e, 22f...finger devices.

Claims (1)

[Claims] 1. A robot capable of changing the direction of the tip of the robot hand by at least 90 degrees when the robot feeds and discharges the bobbin to the winding-related device, and a robot that can temporarily support the bobbin being fed to and discharged from the winding-related device. An intermediate pin stand arranged near the related device is used, and the intermediate pin stand has a guide pin whose supporting direction of the bobbin is different by at least 90 degrees from the direction in which the bobbin is held during bobbin feeding and discharging of the winding related device. , after the bobbin is supported by the guide pin of the intermediate pin stand by the robot, the direction of the tip of the robot hand of the robot is changed by 90 degrees, and then the operation of taking out the bobbin from the guide pin is performed. By being included in the feeding and discharging operation of the winding-related device, the posture of the bobbin after being discharged is changed by 180 degrees with respect to the posture of the bobbin before being fed to the winding-related device. How to change bobbin position.