JPH07172583A - Work transfer device - Google Patents

Abstract

(57) [Summary] [Objective] To provide a work transfer device having high productivity, low manufacturing cost, and easy positioning control. [Structure] A support member (11) for supporting the lowermost work (3a) and a positioning member (12) for positioning the work (3a) are provided, and the second and subsequent works (3) are provided. The lowermost work (3
a) A work storage device (1) for temporarily storing a work (3) having a locate hole capable of being stored in a stacked state in close contact with the upper part of a), and sucking and holding the stored work (3) A suction member, a claw member for holding the work (3) in point contact therewith, and a pushing member for the work, and the work (3) is suction-held without positioning, and the work (3) Workpiece transfer apparatus having a work holding device (2) capable of setting the locate hole of (1) at a regular position of the locate pin (51) of the receiving device (5) and attached to an arm (6). apparatus.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device in an assembly line for assembling automobile bodies.

[0002]

2. Description of the Related Art As shown in FIG. 11, a conventional work transfer device is provided with a support member and a guide corresponding to each one of the works 3 and stocks the works 3 at precise intervals. 8 and an industrial robot 4 in which a work holding device 9 having a clamp for fixing and holding the work 3 is attached to the arm 6.

The receiving device 5 which is the destination of the work.
Has a locating pin 51 for inserting into a hole provided in the work 3 and fixing the work.

[0004]

However, when replenishing the work to the work storage device, it is necessary to set and position the works one by one, so that the replenishment work takes a long time and the positioning accuracy is high. Also needs.

Since the positioning means is provided for each stock to be stocked, the apparatus is complicated and the manufacturing cost is increased. On the other hand, since the works are stocked at intervals, the volumetric efficiency of the apparatus is increased. Is low.

The work holding device also requires a high degree of positioning accuracy in order to hold the work by the clamp method.

The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to provide a carrier device having high productivity, low manufacturing cost, and easy positioning control. .

[0008]

DISCLOSURE OF THE INVENTION The present invention for solving the above-mentioned problems corresponds to a work storage device for temporarily storing a work having a locate hole, and a gripping of the work from the work storage device to correspond to the locate hole. In a work transfer device having a receiving device having a locating pin, and an industrial robot having a work gripping device for delivering the work attached to an arm, the work storage device is located at the lowest stage of the works stored in a stacked state. And a positioning member for positioning the work, wherein the work gripping device does not position the work positioned in the uppermost stage of the stored work. A suction member for sucking and holding, a pawl member for contacting and holding the work point-wise, and a locate hole for the work are the receiving device. A workpiece transfer device, characterized in that it comprises a pushing member which can be set in the normal position of the locating pin.

[0009]

The device according to the present invention configured as described above is
Acceleration of storage operation by eliminating the need for positioning time, high-density storage of works by stacking the work pieces in close contact with each other, and extension of the supply interval of the work to the work storage device due to high-density storage The structure of the work storage device can be simplified and the tact time can be shortened by not using the support member dedicated to the work, and the labor can be saved and the manufacturing cost of the work storage device can be reduced.

[0010]

EXAMPLES The present invention will be described below with reference to examples.

FIG. 1 is a plan view for explaining a device configuration of a work transfer device according to the present invention, FIG. 2 is a side view of the work transfer device shown in FIG. 1, and FIG. 3 is a plan view of a work storage device. FIG. 4, FIG. 4 is a side view of the work storage device shown in FIG. 3, FIG. 5 is a sectional view of a panel receiver of the work storage device, FIG. 6 is a plan view of the work holding device, FIG. FIG. 8 is a plan view of the shape determining guide, FIG. 8 is a cross-sectional view of the gripper of the work gripping device, FIG. 9 is a schematic view for explaining a method of setting the work on the receiving device, and FIG. It is a flowchart.

As shown in FIGS. 1 and 2, a work storage device 1 according to the present invention has a work storage device 1 and an industrial robot 4 having a work gripping device 2 attached to an arm 6, The work stocked in the storage device 1
The work gripping device 2 loads, swivels, and unloads to the work receiving device 5 in the next process.

As shown in FIGS. 3 and 4, the work storage device 1 is based on a movable carriage having a base portion 10, a carriage width determining jig 13, a carriage stopper 14 and a carriage lock 15 device, and is located at the bottom of the workpiece. A panel receiver 11 that constitutes a supporting member for supporting 3a and a panel guide 12 that constitutes a positioning member for positioning the work are provided, and the second and subsequent works 3 are not positioned and the lowermost stage is provided. The work 3a can be stored in a stacked state in which the work 3a is closely attached.

As shown in FIG. 5, the panel receiver 11 has an upper structure corresponding to the shape of the work 3 and is capable of stably holding the work 3.

In the storage work, first, the work 3a installed at the bottom is mounted on the panel receiver 11 and the panel guide 1.
Use 2 to position and set. The second and subsequent workpieces to be stored are stacked on top of the lowermost workpiece 3a without being positioned.

Therefore, the storage operation is speeded up by eliminating the need for positioning time, the work is stored at a high density by storing the work in a laminated state, and the work is supplemented to the work storage device accompanying the high density storage. It is possible to extend the service interval and to simplify the structure of the work storage device by not using the support member dedicated to the work, so that the labor can be saved and the manufacturing cost of the work storage device can be reduced.

As shown in FIGS. 6 and 7, the work gripping device 2 has a gripping base 20 attached to an arm 6 of an industrial robot, a suction member 21 for sucking and holding the work, and the work in point contact with each other. It has a pawl member 22 for holding, and a work pushing member 23.

The suction member 21 is, for example, a suction unit having a magnet 211 and a spring 212, the pawl member 22 is a positioning unit having a gripper 221 and a shape guide 222, and the pushing member 23 is, for example,
It is a pusher having a movable pneumatic cylinder.

The suction unit has a floating function so that it can be swung vertically and horizontally to enable positioning after suction.

The gripper 221 is, as shown in FIG.
It has a finger member corresponding to the shape of the work, and the work is held in point contact and held by the opening / closing operation linked with the suction unit, and positioning is performed, so there is no need for advanced positioning of the work to be grasped. .

The pusher 23 pushes in the work released from the work gripping device for setting it in the receiving device, and sets it in the normal position without applying excessive force. This is because, for example, as shown in FIG. 9, the work 3 is not set to the normal position due to the accuracy of the outer shape of the locate pin 51 provided on the receiving device and the locate hole 31 of the work, and the locate hole 31 of the work 3 is located in the locate pin 31. This is because the mountain portion of 51 may be caught, and if the set is forced, the work 3 may be deformed.

Next, the carrying procedure according to the present invention will be described with reference to FIG.

After the robot arm to which the work gripping device is attached moves and positions above the target work from the standby position (S1), the work gripping device descends toward the work (S2), and the suction unit of the work gripping device. Adsorbs the work (S3).

Next, the workpiece is lifted in a sucked state (S4), and the workpiece is point-contacted and held by the opening / closing operation of the shape guide to be positioned and gripped by the gripper, and then the workpiece is sucked from the suction unit and the shape guide. The work is released (S5).

Next, after the robot arm is swiveled to and positioned above the receiving device in the next step (S6), the work gripping device is lowered toward the receiving device (S7), and the work is set on the receiving device. The rear gripper is opened to release the work from the gripping device (S8).

Next, after the work is pushed in with a pusher to secure the setting, in order to prevent the hole of the locating pin from engaging with the ridge of the locating pin about half due to the accuracy of the product and not getting into the locating pin and getting into the riding state (S9 ), The work gripping device rises and returns to the origin.

The present invention is not limited to the above-mentioned embodiments, but can be variously modified within the scope of the claims. For example, the positioning of the work in the work gripping device may be performed between S4 and S7.

[0028]

As described above, the work transfer apparatus according to the present invention has a high-speed storage operation, a high-density storage of works, an extended supply interval of works, a simplified work storage device structure, In addition, the takt time can be shortened, which can save labor and reduce the manufacturing cost of the work storage device.

[Brief description of drawings]

FIG. 1 is a plan view for explaining a device configuration of a work transfer device according to the present invention.

2 is a side view of the work transfer device shown in FIG. 1. FIG.

FIG. 3 is a plan view of a work storage device.

4 is a side view of the work storage device shown in FIG. 3. FIG.

FIG. 5 is a sectional view of a panel receiver of the work storage device.

FIG. 6 is a plan view of a work gripping device.

FIG. 7 is a plan view of a shape determining guide of the work gripping device.

FIG. 8 is a sectional view of a gripper of the work gripping device.

FIG. 9 is a schematic diagram for explaining a method of setting a work on a receiving device.

FIG. 10 is a flowchart for explaining a transportation procedure.

FIG. 11 is a side view of a conventional work gripping device.

[Explanation of symbols]

1 ... Work storage device, 2 ... Work transfer device, 3 ... Work, 5 ... Work receiving device, 11 ... Panel receiving, 12 ...
Panel guide, 23 ... Pusher, 2
1 ... adsorption unit, 222 ... shape guide,
221 ... A gripper.

Claims (1)

[Claims] 1. A work (3) having a locate hole (31).
To the work storage device (1) for temporarily storing the work, and the receiving device (5) having the locate pin (51) corresponding to the locate hole (31) for gripping the work (3) from the work storage device (1). , The work (3)
In a work transfer device having a work gripping device (2) for delivering and delivering an industrial robot attached to an arm (6), the work storage device (1) is located at the bottom of the works to be stored in a stacked state. A work supporting member (11) for supporting the work (3a) and a positioning member (12) for positioning the work (3a), wherein the work gripping device (2) stores the stored work. A suction member (21) for sucking and holding the work located at the uppermost stage of (3) without positioning, a pawl member (22) for holding the work (3) in point contact, and the work. A work transfer device having a pushing member (23) capable of setting the locate hole (31) of (3) at a regular position of the locate pin (51) of the receiving device (5).