JPH0619432Y2 - Work holding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology is such that, when a work to be mounted from a lower side or a side of a mounting base material to be conveyed in a line is mounted, the work is brought close to the base material. It belongs to the technical field of the structure of a device for holding the device in a held state.

Thus, the present invention is used in an assembly line of an automobile body, etc., and a fixed type or movable type installation base is provided on the side of a line on which an attachment base material of an automobile body is conveyed. A work holder is supported on the installation base via a multi-joint link device, and a mounting base material in which the mounted work held by the work holder is line-transported by a rotating operation via a pin connecting portion of the multi-joint link device. Is a device relating to a work holding device that can be moved to the lower side or the side of the work, and in particular, a work in which each link is connected so that the axis of each link is offset when the link of the multi-joint link device is extended. The invention relates to a holding device.

<Prior Art> Generally, in an assembly factory of a machine such as an automobile, assembling of parts and the like is almost always performed by a line work to improve productivity.

And, in the field such as an assembly factory of the seed machine, various machine equipments are adopted when performing line work,
For example, when attaching a work of a heavy object to a mounting base material, such as when mounting a propeller shaft on the body of an automobile, a work holding device is used to improve work safety and efficiency, and reduce the labor of a worker. Has been planned.

Thus, the conventionally used work holding device is provided with a multi-joint link device which is freely rotatable in a horizontal direction via a pin connecting portion on an installation base provided on a side of a transfer line. And a work holder for holding a work to be mounted on the mounting base material is pivotally supported at the tip of the multi-joint link device, and the work is mounted on the mounting base material conveyed on the line. At that time, an operator places and sets the work on the work holder at a predetermined position, and as it is, the multi-joint link device is appropriately swung to move the work set on the work holder to the vicinity of the mounting base material,
In this state, the worker mounts the work on the mounting base material.

Further, recently, a work holding device or the like has been devised in which a constant posture maintaining device is provided in the work holder in order to regulate the holding direction displacement of the work holder portion due to the turning movement of the multi-joint link device. , For example, Japanese Utility Model Application Sho 60-1821
No. 97 specification and the like.

<Problems to be Solved by the Invention> However, in each of the above-described conventional work holding devices, as shown in FIG.
After the mounting work is completed, the links 4 and 5 of the multi-joint link device 3 are swung so that the links 4 and 5 are shown in alternate long and short dash lines in the vicinity of the installation base 6 on the side of the transport line (the position indicated by A in the figure). ), The links 4 and 5 of the multi-joint link device 3 are horizontally rotatably connected so that they are on the same axis in the operating posture shown by the solid line. Due to the mutual interference between the links 4 and 5, the folding angles of the links 4 and 5 are naturally limited. Therefore, when the multi-joint link device 3 is installed on the side of the conveyance line, the links 4 and The installation position of the installation base 6 must be set in consideration of the limit folding angle of 5, and the lengths of the links 4 and 5 become long accordingly, and the weight of the multi-joint link device 3 as a whole increases. And the load on the base of Link 4 increases,
There was a drawback that it adversely affected the strength.

Furthermore, as shown in FIG. 4, the conventional work holding device is
When installing the multi-joint link device 3 on the side of the transfer line, the installation base 6 must be set at a position sufficiently separated from the transfer line in consideration of the limit folding angle of the links 4 and 5. There was a problem in that the space occupied by the side of the transfer line had to be secured large and the space in the factory was not effectively utilized.

The purpose of this invention is to solve the above-mentioned problems of the work holding device based on the prior art, and to expand the limit folding angle of the multi-joint link device and to reduce the length of each link. The overall weight of the device is reduced, and the efficiency is improved and the space is effectively utilized through downsizing.
An object is to provide an excellent work holding device which is useful in the field of application of assembly technology in the machine manufacturing industry.

<Means for Solving the Problems> In order to solve the above-mentioned problems, the structure of the present invention is based on the above-mentioned utility model registration claim in accordance with the above-mentioned object. In a work holding device in which a rotatable multi-joint link device is supported by a carriage that is synchronously moved on the side of the work holder, and a work holder is pivotally supported at the front end of the multi-joint link device, A device is provided, and a rotating bar having a rotating actuator is vertically provided on an operating portion of the elevating device, and a base end of a first arm forming a multi-link device is pivotally supported at a tip end of the rotating bar to rotate. A balancing cylinder is provided between the moving bar and the first arm,
The base end of the second arm constituting the multi-link device is pivotally supported at the tip of the arm with its pivot axis offset from the tip of the first arm, and the work holder is rotated at the tip of the second arm. The technical means is provided so that the work holder is movably provided, and the pulley provided on the support shaft is rotatably linked in synchronization with the turning bar via a belt.

<Operation> Thus, the multi-joint link device, which is attached to the side of the line where the attachment base material is conveyed, via the installation base, is connected to each other with their axes offset from each other. A connecting portion that is pivotally supported so as to be pivotable in a horizontal direction with respect to a rotating bar that is provided, and that in a standby state at the side of the line, the links of the multi-joint link device are provided with their axes offset from each other. The workpiece holder is folded up to about 180 ° via the and the workpiece holder can maintain the initial posture and move the workpiece to the base material in synchronization with the rotating bar during operation.

<Embodiment> An embodiment of the present invention will be described below with reference to FIGS. The same parts as those shown in FIG. 4 will be described with the same reference numerals.

Reference numeral 7 denotes a work holding device which is the subject of the present invention, and shows a mode adopted when assembling the propeller shaft 2 as a work to the body 1 as a mounting base material in an automobile assembly line.

In the mode shown in FIG. 2, the body 1 is hung from a pair of rails 8, 8 provided above via a hanger 9,
The assembly line is conveyed via an actuator (not shown).

A pair of rails 10, 10 are vertically arranged side by side on the line on which the body 1 is conveyed, and the rails 10, 10 serve as an installation base via guide rollers 11, 11. A dolly 6'is movably suspended, and an elevating block 13 as an operating unit is movably attached to the side of the trolley 6 via an air cylinder 12 as an elevating device.

In addition, a bracket extending horizontally is provided on the upper portion of the carriage 6 '.
An engaging device 15 is attached via 14 and the dolly 6'and the hanger 9 are engaged by the operation of the engaging device 15, and the power of the hanger 9 is transmitted to the dolly 6'by the engagement. Has been done.

On the other hand, on the lower side surface of the lifting block 13 supported by the trolley 6 ', a pair of brackets 1 are provided in the longitudinal direction with a predetermined space therebetween.
Reference numerals 6 and 16 'are provided above and below, and a vertical rotation bar 17 is pivotally supported on the brackets 16 and 16', and a motor 18 as a rotation actuator for horizontal rotation is linked to the upper end portion thereof. Together with the bracket 19 from the top on the side surface,
19 'and 19 "are extended to form the brackets 19" and 19'.
The first link as a link on the base side of the multi-joint link device 3 '.
The base ends of the arm 4'and the rod 4 "are pivotally supported in a vertically swingable manner, and the bracket 19 serves as a balance cylinder pivotally supported by the first arm 4'on the tip end of its piston rod. The base of the air cylinder 20 is swingably supported by a pin.

Further, the tip ends of the first arm 4'and the rod 4 "are pivotally supported by a bracket 21 for connecting the second arm 5'of the multi-joint link device 3'in a vertically pivotable pin manner.

Therefore, since the first arm 4'and the rod 4 "are parallel links, the second arm 5'is maintained in the posture parallel to the base.

As shown in FIG. 3, the bracket 21 is formed so as to extend to a predetermined width in a direction perpendicular to the first arm 4'and the rod 4 ", and one end of which is horizontal. A rotating motor 22 is attached, and the base of the second arm 5'is pivotally supported at the other end via a rotating shaft 23.

Therefore, the first arm 4'as a link on the base side,
The rod 4 ″ and the second arm 5 ′ on the front side are rotatably connected such that their axes are offset from each other.

Further, on the upper surface of the bracket 21, a pulley 24 pivotally supported by the rotary shaft of the motor 22 is provided at one end side thereof, and a pulley 25 pivotally supported by a rotary shaft 23 is provided at the other end side thereof. A belt 26 for power transmission is wound between the pulleys 24 and 25.

A pulley 27 that abuts the belt 26 is provided between the pulleys 24 and 25, and the pulley 27 can be moved and adjusted via a displacement mechanism provided inside the bracket 21. The tension of the belt 26 can be freely adjusted by appropriately changing the contact force with the belt.

Further, a work holder 28 is rotatably supported by a tip portion of the second arm 5'in a horizontally rotatable manner via a thrust bearing (not shown) or the like, and a pulley 29 is provided at a lower end of the support shaft 28 '. It is fixed in one.

Then, the pin 30 is fixedly mounted on the lower surface of the bracket 16 'for supporting the rotating bar 17 on the elevating block 13 so that the axis center is located on the same straight line as the rotation center of the rotating bar 17. A pulley 29 'is integrally fixed to the lower end.

A pin 30 'is pivotally supported on the lower surface of the bracket 21 that connects the first arm 4'and the rod 4 "to the second arm 5', and a pulley 29" is provided below the pin 30 '. And 29
Is integrally fixed, and the pulley 29 ″ is wound around a wire belt 31 between the pulley 29 ″ and a pulley 29 ′ provided below the rotating bar 17, while the pulley 29 is attached to the shaft of the work holder 28. A timing belt 32 is wound around the provided pulley 29.

In the above-described configuration, the work holding device 7 has the motor 1 for horizontal rotation in the standby state where the body 1 is not conveyed.
A state in which the first arm 4 ', the rod 4 "and the second arm 5'are maximally bent via 8 and 22, and the lifting block 13 is lifted to the uppermost position by the lifting air cylinder 12. (A posture in FIGS. 1 and 2).

Then, when the body 1 conveyed on the line reaches a predetermined position near the work holding device 7, the arrival thereof is confirmed by a limit switch (not shown), and the work holding device 7 electrically connected to the limit switch is confirmed. Engagement device
15 operates and engages with the hanger 9 that has been conveyed along the line, and the work holding device 7 transmits the moving force by the hanger 9 and is conveyed in synchronization.

Then, the elevating block 13 descends to the lowermost end via the air cylinder 12 for elevating and lowering provided at the upper part of the carriage 6 ',
After that, the first arm 4'and the rod 4 "and the second arm 5'rotate in a predetermined manner via the motors 18 and 22 for horizontal rotation, and the propeller shaft 2 is set on the work holder 28. The work holder 28 (see B in FIGS. 1 and 2)
Moves.

At this time, the first arm 4'is rotated by the motor 18 and the second arm 5'is rotated by the motor 22, which is rotated by the rotation of the motor 22 via the belt 26 and the pulley 25. Once transmitted to the second arm 5'and is pivotally supported integrally with the second arm 5 '.
25 rotations.

Then, in this state, the operator mounts the propeller shaft 2 on the work holder 28, and at the same time, the balance air cylinder 20 is expanded and contracted in conformity with the weight of the propeller shaft 2, and the work holding device 7 is Be kept in balance.

Next, the work holder 28 on which the propeller shaft 2 is placed
Is gripped by the operator and the first arm 4 ', and
Through the rotation of the rod 4 ″ and the second arm 5 ′, the propeller shaft 2 is guided below the body 1 in the vicinity of a predetermined mounting portion (C in FIG. 1). The propeller shaft 2 placed on the front and rear ends of the propeller shaft 2 is mounted on a transmission and a differential gear, which are pre-mounted on the body 1, by an operator.

Then, the work holding device 7 which has finished the work is displaced through the horizontally rotating motors 18 and 22 and the lifting air cylinder 12, and the first arm 4'and the rod 4 "and the second arm 5'are moved. The sheets are maximally folded so as to be parallel to each other and returned to the original standby state (A in FIGS. 1 and 2) again.

At this time, as shown in FIG. 3, the first arm 4 ′ of the work holding device 7 and the rod 4 ″ and the second arm 5 ′ are horizontally arranged such that their axes are offset via the bracket 21. Since it is rotatably connected in the direction
When the sheets are folded to the maximum extent through, the postures are parallel to each other, as shown by A in FIG.

Therefore, the total width in the line direction of the work holding device 7 in the standby state becomes extremely small, and the work holding device 7
The trolley 6'as the installation base at the time of designing can be installed at a position extremely close to the line. Therefore, each of the first arm 4'and the rod 4 "and the second arm 5'can be installed. The length is designed to be shorter than the conventional mode.

Further, the work holder 28 on which the propeller shaft 2 is mounted is located below the body 1 near the mounting portion of the propeller shaft 2 (first
When being guided to C) in the figure, the first arm 4'and the rod 4 "and the second arm 5'include the rotating bar 17 and the rotating shaft.
The work holder 28 pivotally supported on the front end of the second arm 5'and the propeller shaft 2 mounted on the upper surface of the work holder 28 are respectively rotated about the center 23 of the pulleys 29 ', 29 ", 29 ,. Also, the operation of 29 through the wire belt 31 and the timing belt 32 maintains the posture in which the propeller shaft 2 was initially placed on the work holder 28. Therefore, when the propeller shaft 2 is mounted on the body 1, the propeller shaft 2 is not supported. It is possible to work in the posture in which the shaft 2 is placed on the work holder 28.

The embodiment of the present invention is not limited to the above-mentioned embodiment, and various other embodiments can be adopted.

<Effect of the Invention> As described above, according to the present invention, the limit folding angle of the multi-joint link device is basically enlarged, so that when the multi-joint link device is in the standby state on the side of the line, The overall width is extremely small, and as a result, the installation base can be installed at a position extremely close to the line, and as a result, it is possible to reduce the length of each link, which in turn makes the entire device lighter and more compact. The excellent effect that it becomes possible is exhibited.

In addition, since the pulley of the spindle of the work holder is rotated via the belt in synchronization with the rotation bar, the posture of the work holder in the space does not change from the initial posture and always maintains a fixed posture. Therefore, there is no interference with other devices and members, and the work can be mounted in a low posture by bringing the work close to the mounting position with respect to the base material.

Further, since the second arm is offset from the first arm and is pivotally provided, the posture in the standby state becomes compact, the length of the arm can be shortened, and the weight of the entire apparatus can be reduced. The effect that can be achieved is exhibited.

That is, a multi-joint link device installed on a side of a transfer line via an installation base is connected to each other with their axes offset from each other, and is pivotally movable in a horizontal direction on a rotary bar of the installation base. Since the work holder is supported so as to be rotatable between the pulley and the pulley of the rotary bar via a belt in synchronism with the rotary bar, the multi-joint link device is lined. When in the standby state on the side, the links can be folded until they are in parallel postures via the connecting portions provided with offset axes, without interfering with each other.

Also, during operation, the work holder can swivel in synchronization with the rotation bar, which allows the installation base position on the side of the line to be much closer to the line than in the conventional mode, and the work can be attached to the base material. The effect is that it can be performed safely and smoothly.

Also, the multi-joint link device has each link length reduced,
As a result, since the total weight is reduced, the load applied to the base portion of the multi-joint link device is reduced, and an excellent effect that the adverse effect on the strength surface due to the load is extremely reduced is exhibited.

Furthermore, since the installation base is close to the line and the multi-joint link device is made compact as a whole, the space occupied by the side of the line is reduced, and the effective utilization of the space in the factory is improved. The effect is also produced.

[Brief description of drawings]

1 to 3 show one embodiment of the present invention. FIG. 1 is a schematic plan view, FIG. 2 is a front view, FIG. 3 is an enlarged plan view, and FIG. 4 is a plan view showing a conventional mode. It is a figure. 1 ... Base material, 6 ... Truck, 18 ... Work holder, 3 '... Multi-joint link device, 7 ... Work holding device, 12 ... Lifting device (air cylinder), 13 ... Operating part, 4 ′ …… First arm, 17 …… Rotating bar, 5 ′ …… Second arm, 20 …… Balancing cylinder, 32 …… Belt, 18 …… Rotating actuator, 28 ′ …… Spindle, 19… ... pulley

Claims (1)

[Scope of utility model registration request] 1. A multi-link device which is rotatable along a base material conveyed along a line and is supported by a carriage which is synchronously moved laterally of the base material, and a front portion of the multi-link device. In a work holding device in which a work holder is pivotally supported, a lifting device is provided on the dolly, and a rotary bar having a rotary actuator is vertically installed at an operating portion of the lifting device, and a tip end of the rotary bar is provided. A base end of a first arm constituting the multi-joint link device is pivotally supported, a balance cylinder is provided between the rotary bar and the first arm, and a tip end of the first arm constitutes the multi-joint link device. The base ends of the two arms are pivotally supported with their rotation axes offset from the tip of the first arm, and the work holder is rotatably provided at the tip of the second arm, and the work holder supports the work holder. A pulley mounted on the shaft is synchronized with a rotating bar via a belt. Workpiece holding device, characterized in that is rotatably associated.