JP3970516B2 - Positioning and conveying device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a workpiece positioning / conveying device that conveys a workpiece by fitting a positioning pin into a through-hole formed in the workpiece, for example, so that a door hinge attached to a vehicle body is conveyed to the vehicle body as a workpiece and positioned. The present invention relates to a workpiece positioning and conveying apparatus.
[0002]
[Prior art]
2. Description of the Related Art In an automobile production line, various parts, that is, works are assembled. For example, when a door hinge is assembled to an automobile body, one of door hinges having two hinge members that are pin-coupled to each other. The hinge member is attached to the vehicle body with bolts, and the other hinge member is attached to the door.
[0003]
In order to automate the assembling operation of such a part to the vehicle body, it is necessary to automatically convey the part to the vehicle body by a conveying device and position the part at a predetermined mounting position. There is a method of transporting a part to a predetermined position by gripping and transporting the part with fingers and claws attached to the robot arm. However, the assembly side of the body to which the part is attached interferes with the finger. If it does, it cannot position to a predetermined position correctly.
[0004]
[Problems to be solved by the invention]
In order to position a part, that is, a workpiece at a predetermined position, it is preferable to fit a positioning pin into a through-hole formed in the workpiece. However, in addition to the positioning pin, a clamp member for fastening the workpiece is added to the positioning conveyance device. If provided, the clamp member will interfere with the assembly side.
[0005]
In particular, when the door hinge is attached to the vehicle body by the transport device, the through hole formed in the door hinge is positioned accurately in the through hole on the vehicle body side with respect to the mounting position on the vehicle body side, and the interference between the transport device and the vehicle body is achieved. Need to avoid.
[0006]
An object of the present invention is to enable a workpiece loaded at a workpiece loading position to be accurately positioned at a workpiece unloading position where the workpiece is assembled.
[0007]
[Means for Solving the Problems]
The positioning and conveying apparatus of the present invention includes a movable body that is movably provided between a workpiece carry-in position and a workpiece carry-out position, a main body block that is fixed to the movable body and has a workpiece receiving surface that contacts the workpiece, A positioning pin provided in a body block and fitted in a through-hole formed in the workpiece; a clamp arm accommodated in a slit formed in the positioning pin; and the clamp arm pushed out from the slit to Clamp arm driving means for driving the workpiece to a position for clamping the workpiece between the workpiece receiving surface and a position for entering the slit, and provided in the main body block, and the positioning pin and the clamp arm are connected to the workpiece receiving surface. Retreat drive means for moving to a position retracted more than the above, and in the through hole at the work loading position, The conveyed to work unloading position while clamping the workpiece by the clamp arm with fitting the-decided Me pins, the work receiving surface after retracting move the positioning pin and the clamp arm in the work unloading position and The main body block is moved in a direction in which the workpiece is parallel.
[0009]
The positioning and conveying apparatus of the present invention includes a movable body that is movably provided between a workpiece carry-in position and a workpiece carry-out position, a main body block that is fixed to the movable body and has a workpiece receiving surface that contacts the workpiece, A first positioning pin provided in the main body block and fitted in a first through hole formed in the workpiece, a clamp arm accommodated in a slit formed in the first positioning pin, and provided in the main body block In the slit, a position where the workpiece is clamped between the second positioning pin that fits into the second through hole formed in the workpiece, and the clamp arm is pushed out from the slit to receive the workpiece. Clamp arm driving means for driving to the position to be inserted, and the respective positioning pins to be retracted from the positions protruding from the workpiece receiving surface. Retraction driving means for driving between the retraction position and the work piece in a state where the positioning pins are fitted in the through holes at the work carry-in position and the work is clamped by the clamp arm. It is transported to the carry-out position.
[0010]
The positioning and conveying apparatus according to the present invention is a door hinge having a first hinge member attached to the door side and a second hinge member attached to the vehicle body side and pin-coupled to the first hinge member. A pin is fitted into a mounting hole formed in the door hinge and conveyed to the workpiece unloading position, and a magnet is provided on the main body block for applying an attractive force in the direction toward the workpiece receiving surface to the workpiece. It is characterized by that.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
1 (A) is a front view showing a positioning conveying device according to an embodiment of the present invention applied to attach the present invention the door hinge to the vehicle body, FIG.. 1 (B) right to FIG (A) FIG. 1 (A) shows only two of the six workpieces shown in FIG. 1 (B), and the other workpieces are omitted.
[0012]
The door hinge 1 which is a work has a first hinge member 1a attached to the door side and a second hinge member 1b attached to the vehicle body side, and these are connected to each other by pins 3 so as to be rotatable. Two door hinges 1 are attached to one door, and a total of eight door hinges 1 are attached to a vehicle body having a front door and a rear door. Two through holes 4a and 4b are formed in each of the first and second hinge members 1a and 1b, and bolts are attached to the respective through holes.
[0013]
A positioning and conveying device for conveying the door hinge 1 to the vehicle body 2 and mounting it at a predetermined position has a support base 5 as shown in FIG. In order to attach the door hinge 1 to the vehicle body, two rotary tables 6 are rotatably provided. Positioning / conveying device main bodies 10 are fixed to each of the two turntables 6 that function as moving bodies, and each turntable 6 has a work unloading position 7a for attaching a door hinge as a work to the vehicle body. , Two workpiece loading positions 7b and 7c into which workpieces are respectively loaded. The positioning and conveying device body 10 at the workpiece loading position 7b rotates the rotary table 6 clockwise to rotate the workpiece unloading position 7a. The positioning / conveying device main body 10 at the workpiece loading position 7c is conveyed to the workpiece unloading position 7a by rotating the rotating table 6 counterclockwise.
[0014]
Therefore, in the positioning / conveying device shown in FIG. 1, three types of door hinges 1 can be carried in each rotary table 6 corresponding to the vehicle type to which the door hinge 1 is assembled, and each of them is assembled to the vehicle body. To the unloading position. The door hinge 1 conveyed to the workpiece unloading position is changed by the robot and attached to the vehicle body 2. However, one workpiece loading position may be used, and a reciprocating member that reciprocates in a linear direction may be used as the moving body instead of the rotating table 6 as the moving body. Further, a door hinge of one vehicle type may be conveyed by one rotation table 6.
[0015]
2 is a perspective view showing the positioning / conveying device main body 10 shown in FIG. 1 (A), and FIG. 3 (A) is a front view of the positioning / conveying device main body 10 viewed from the direction of arrow A in FIG. 3B is a rear view of the positioning / conveying device main body 10 viewed from the direction of the arrow B in FIG. 2, and FIG. 4A is a cross-sectional view of the positioning / conveying device main body 10 in a state where the workpiece is clamped. 4 (B) is a cross-sectional view of the positioning / conveying device main body 10 in a state where the workpiece clamp is released and the positioning pin is further shifted, and FIG. 5 is a cross-sectional view taken along the line CC in FIG. 4 (A). .
[0016]
The positioning / conveying device main body 10 has a rectangular parallelepiped main body block 12 provided with a quadrilateral flange portion 11 screwed to the rotary table 6, and a door hinge 1 as a workpiece contacts the front of the main body block 12. A workpiece receiving member 13 on which a workpiece receiving surface 13a is formed is screwed.
[0017]
A moving plate 14 is disposed on the back side of the main body block 12, and a pneumatic cylinder 15 is attached to the moving plate 14. A hollow guide rod 16 is fixed to the front end portion of the pneumatic cylinder 15, and the hollow guide rod 16 penetrates the moving plate 14 and is slidably mounted in the guide hole 17 formed in the main body block 12 in the axial direction. ing. A piston rod 18 accommodated in the hollow guide rod 16 so as to be capable of reciprocating in the axial direction is connected to a piston 19 provided in the pneumatic cylinder 15, and an air pressure formed between the piston 19 and the head cover 20. When compressed air is supplied to the chamber 21, the piston rod 18 moves forward, and when compressed air is supplied to the pneumatic chamber 22 formed between the piston 19 and the hollow guide rod 16, the piston rod 18 moves backward.
[0018]
A positioning pin 23 that fits into a through hole 4b formed in the door hinge 1 that is a workpiece is fixed to the distal end of the hollow guide rod 16, and the positioning pin, that is, the locate pin 23, has a slit 24 that leaves the distal end portion. Is formed. A clamp arm 25 for clamping a workpiece is accommodated in the slit 24, and the clamp arm 25 is swingably connected to the piston rod 18 by a fulcrum pin 26 fixed to the tip of the piston rod 18. ing. As shown in FIG. 5, both end portions of the fulcrum pin 26 are engaged with a long hole 27 formed in the hollow guide rod 16, and when the piston rod 18 moves in the axial direction, the fulcrum pin 26 is in the long hole 27. At the same time, the clamp arm 25 also slides in the slit 24 in the axial direction.
[0019]
As shown in FIG. 4, a cam pin 28 is fixed to the hollow guide rod 16 in parallel with the fulcrum pin 26, and the cam pin 28 passes through a cam groove 29 formed in the clamp arm 25. The cam groove 29 is formed in a central portion in the width direction of the clamp arm 25 along the longitudinal direction, and a straight cam groove portion 29a for projecting a clamp claw 25a provided at the tip of the clamp arm 25 to the outside of the slit 24; When the cam groove 29b inclined by the forward movement of the piston rod 18 reaches the position of the cam pin 28, the clamp arm 25 swings and the portion of the clamp claw 25a is also formed. All enter the slit 24.
[0020]
A pneumatic cylinder 31 is attached to the moving plate 14 adjacent to the pneumatic cylinder 15. A hollow guide rod 32 is fixed to the front end of the pneumatic cylinder 31, and the hollow guide rod 32 penetrates the moving plate 14. The main body block 12 is slidably mounted in the guide hole 33 formed in the axial direction. The piston rod 34 accommodated in the hollow guide rod 32 so as to be capable of reciprocating in the axial direction is connected to a piston 35 provided in the pneumatic cylinder 31, and a pneumatic chamber formed between the piston 35 and the head cover 36. the piston rod 34 is supplied with compressed air 37 moves forward, when supplying compressed air to the pneumatic chamber 38 formed between the piston 35 and the hollow guide rod 32 the piston rod 3 4 moves backward.
[0021]
Thus, the main body block 12 is parallel to the pneumatic cylinder 15 for opening and closing the clamp arm 25 so as to be parallel to each other and the pneumatic cylinder 31 for moving both positioning pins 23 and 41 forward and backward. Is arranged.
[0022]
A positioning pin 41 that fits into a through hole 4b formed in the door hinge 1 that is a workpiece is fixed to the tip of the hollow guide rod 32. Both ends of the drive pin 42 fixed to the piston rod 34 pass through a long hole 43 formed in the hollow guide rod 32 and are fixed to the main body block 12 as shown in FIG. A screw member 44 for preventing the drive pin 42 from coming off is attached to the main body block 12.
[0023]
Accordingly, when compressed air is supplied to the pneumatic chamber 38 and the piston rod 34 is moved backward relative to the pneumatic cylinder 31, the moving plate 14 moves closer to the main body block 12, and the piston rod 34 is moved backward. When the position is reached, the movable plate 14 comes into contact with the main body block 12 as shown in FIG. At this time, the positioning pin 41 is the position that protrudes most from the workpiece receiving member 13. On the other hand, when the piston rod 34 is moved forward relative to the pneumatic cylinder 31, the moving plate 14 is separated from the main body block 12, and when the piston rod 34 reaches the forward limit position, as shown in FIG. The moving plate 14 is in a state farthest from the main body block 12. When the piton rod 34 moves between the forward limit position and the reverse limit position, the long hole 43 is set longer than the stroke of the piston rod 32 so that the piston rod 32 and the hollow guide rod 32 do not collide.
[0024]
When compressed air is supplied to the pneumatic chambers 21 and 37 from the supply / exhaust ports 21a and 37a shown in FIG. 2 to the pneumatic cylinders 15 and 31, the piston rods 18 and 34 are moved as shown in FIG. 4B. Since the forward limit position is reached, the pistons 19 and 35 come closest to the moving plate 14, and at this time, the two positioning pins 23 and 41 do not protrude from the workpiece receiving surface 13 a of the workpiece receiving member 13. It becomes. Under this state, when compressed air is supplied from the supply / discharge port 38a to the pneumatic chamber 38 of the pneumatic cylinder 31, the two positioning pins 23 and 41 are moved from the workpiece receiving surface 13a as shown in FIG. Protruding state. However, if the piston rod 18 remains in the forward limit position, the clamp arm 25 remains in the slit 24 as shown by a two-dot chain line in FIG. Under this state, when compressed air is supplied from the supply / discharge port 22a to the pneumatic chamber 22 and the piston rod 18 is moved backward, the clamp arm 25 is moved from the slit 24 as shown by a solid line in FIG. It will come out. However, in FIG. 4A, the hinge member 1b is not disposed on the workpiece receiving surface 13a as indicated by a two-dot chain line. When the hinge member 1b is arranged, the hinge member 1b is clamped by the clamp arm 25.
[0025]
A magnet 45 is embedded in the workpiece receiving member 13 so as to be exposed on the workpiece receiving surface 13a. When the workpiece made of a magnetic material such as steel is in contact with the workpiece receiving surface 13a, the workpiece is directed toward the main body block 12. To make it adsorb.
[0026]
The procedure for attaching the door hinge 1 to the vehicle body 2 using the positioning / conveying device having the structure in which the positioning / conveying device main body 10 having the above-described structure is attached to the rotary table 6 will be described. The main body 10 is loaded, that is, carried in. At that time, the positioning pins 23 and 41 protrude as shown in FIGS. 2 and 4, and the clamp arm 25 enters the slit 24 as shown by a two-dot chain line in FIG. In this state, the positioning pins 23 and 41 are fitted into the through holes 4b formed in the second hinge member 1b on the vehicle body side to be attached to the vehicle body 2. At the same time, the second hinge member 1 b is attracted to the main body block 12 side by the magnet 45.
[0027]
This carry-in operation may be performed automatically by a carry-in device or may be performed manually. When the piston rod 18 is moved backward after the carry-in operation is completed, the clamp arm 25 protrudes from the slit 24 as shown by a solid line in FIG. Clamping is performed by the clamp claws 25 a and the workpiece receiving member 13.
[0028]
In this way, the door hinge 1 becomes the workpiece unloading position 7a by rotating the rotation table 6 by a predetermined angle under the state in which the door hinge 1 is clamped by the positioning / conveying device main body 10. Under this state, the door hinge 1 is changed by a robot (not shown) and conveyed to a predetermined position of the vehicle body 2. At this time, since the predetermined position of the through hole 4b of the second hinge member 1b attached to the vehicle body 2 is set by the positioning pins 23 and 41, it can be easily matched with the attachment position of the vehicle body based on the position. it can. Under the matched state, the bolt is rotated using a screw tightening device to screw the door hinge 1 to the vehicle body 2. However, the screw tightening operation may be performed manually.
[0029]
When the robot is to change the door hinge 1 at the work carry-out position 7a, first, the piston rod 18 is moved forward. As a result, the clamp arm 25 moves away from the second hinge member 1b and becomes a position indicated by a two-dot chain line in FIG. 4A, and the workpiece clamping is released. Next, as shown in FIG. 4B, when both the positioning pins 23 and 41 are moved backward by moving the piston rod 34 forward, the positioning pins 23 and 41 are retracted from the workpiece receiving surface 13a. It becomes a state. Under this state, the second hinge member 1b is attracted to the workpiece receiving surface 13 by the magnet 45, but the force stronger than the magnetic force of the magnet 45 under the state of being gripped by the robot. When the rotary table 6 is rotated, the workpiece receiving surface 13 moves in a direction along the second hinge member 1b. As a result, the turning table 6 can be turned immediately after both positioning pins 23 and 41 are retracted, and the door hinge 1 can be quickly attached. However, after the robot holds the door hinge 1, the door hinge 1 may be removed from the positioning and conveying apparatus main body 10 by moving the door hinge 1 in the direction along the rotation table 6 by the robot.
[0030]
The positioning and conveying apparatus described above is applied to attach a door hinge as a workpiece to the vehicle body 2, but the type of workpiece is not limited to the door hinge, and various workpieces, that is, parts to be conveyed and positioned and conveyed. Can do.
[0031]
FIG. 6 is a diagram showing another type of positioning / conveying device main body 10a. In FIG. 6, members that are the same as those of the positioning / conveying device main body 10 described above are denoted by the same reference numerals.
[0032]
This apparatus main body 10a has only one positioning pin 23, and this positioning pin 23 is incorporated with a clamp arm 25 so as to be freely opened and closed, and the opening and closing operation is fixed to the main body block 12. This is done by the pneumatic cylinder 15. In order to move the positioning pin 23 forward and backward, a pneumatic cylinder 31 is attached to the main body block 12, and a piston rod 34 reciprocated by the pneumatic cylinder 31 is connected to the hollow guide rod 16 by a connecting plate 46. In order to fix the connecting plate 46 to the piston rod 34, a connecting cylinder 48 is fixed to the piston rod 34 with bolts 47, and the connecting cylinder 48 is screwed to the connecting plate 46. The hollow guide rod 16 and the connection plate 46 are also connected by screw connection.
[0033]
In the main body block 12 of this type of positioning and conveying apparatus main body 10a, a plate accommodating space 49 for accommodating the connecting plate 46 is formed, and the length of the apparatus main body 10a in the axial direction is the same as that of the type of apparatus described above. It can be shorter than the main body 10. Further, in this type of positioning and conveying apparatus main body 10a, there is only one positioning pin 23, and a workpiece having at least one through-hole through which the positioning pin 23 passes in order to perform positioning and clamping of the workpiece. Fastening can be done.
[0034]
In order to detect that the workpiece has contacted the workpiece receiving surface 13a, a detecting rod 51 is attached to the workpiece receiving member 13 so as to be movable in the axial direction. The reciprocating rod 52 connected to the main body block 12 is provided with a compression coil spring 53 for urging the detection rod 51 with a spring force in the protruding direction, and the magnet 54 is fixed. Has been. A magnetic sensor 55 that is sensitive to the magnetic force of the magnet 54 is attached to the main body block 12, and it is detected by the magnetic sensor 55 detecting the magnetic force of the magnet 54 that the workpiece has contacted the workpiece receiving surface 13 a. The main body block 12 is made of an aluminum alloy so that the magnetic sensor 55 is reliably operated by the magnetic force of the magnet 54.
[0035]
Even in this type of positioning and conveying apparatus main body 10a, the positioning pin 23 can be set at a position that does not protrude from the work receiving surface 13a. Therefore, when the work is removed from the conveying apparatus main body 10a by a robot, The conveying device body 10a can be retreated by sliding the receiving surface 13a on the workpiece. However, when the positioning pins are not moved backward from the workpiece receiving surface in each of the transfer device main bodies 10 and 10a, the direction of the transfer device main body is perpendicular to the surface of the work after the work unloading is completed. The robot is retracted by the robot.
[0036]
The present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the scope of the invention. For example, the type of workpiece is not limited to a door hinge, and various types of workpieces can be used. Further, although the workpiece at the workpiece unloading position is removed by a take-out mechanism such as a robot, the workpiece may be unloaded directly from the positioning / conveying device main body to the mounted member.
[0037]
【The invention's effect】
According to the present invention, the positioning pin is penetrated through the through hole formed in the workpiece to position the workpiece, and the workpiece is clamped by the clamp arm incorporated in the positioning pin. The positioning and clamping of the workpiece can be achieved with a small device.
[0038]
By providing two positioning pins, that is, a pin with a built-in clamp arm and a pin without a built-in clamp, the workpiece can be positioned accurately at a predetermined position and stably conveyed.
[0039]
By disposing the magnet on the workpiece receiving surface, it is possible to prevent the workpiece from dropping during conveyance without causing the workpiece to shift when the workpiece is loaded.
[Brief description of the drawings]
FIG. 1A is a front view showing a positioning and conveying apparatus according to an embodiment of the present invention in which the present invention is applied to attach a door hinge to a vehicle body, and FIG. 1B is a right side view of FIG. is a side view as viewed from FIG. 2 is a perspective view showing a positioning conveyor device main body shown in FIG. 1 (a).
3A is a front view of the positioning / conveying device main body viewed from the direction of arrow A in FIG. 2, and FIG. 3B is a rear view of the positioning / conveying device main body viewed from the direction of arrow B in FIG.
4A is a cross-sectional view of the positioning and conveying apparatus main body in a state in which the workpiece is clamped, and FIG. 4B is a cross-sectional view of the positioning and conveying apparatus main body in a state in which the clamp is released and the positioning pins are further shifted. is there.
FIG. 5 is a cross-sectional view taken along the line CC in FIG.
FIG. 6 is a cross-sectional view showing a positioning / conveying device main body according to another embodiment of the present invention.

Claims (4)

A movable body movably provided between the workpiece loading position and the workpiece unloading position;
A main body block having a work receiving surface fixed to the movable body and in contact with the work;
A positioning pin provided in the main body block and fitted in a through hole formed in the workpiece;
A clamp arm received in a slit formed in the positioning pin;
Clamp arm driving means for driving the clamp arm from the slit and driving the clamp arm between the workpiece receiving surface and a position where the clamp arm is inserted into the slit;
Retraction drive means provided on the main body block for moving the positioning pin and the clamp arm to a position retracted from the work receiving surface;
The positioning pin is fitted into the through-hole at the workpiece loading position, and the workpiece is transported to the workpiece unloading position while being clamped by the clamp arm, and the positioning pin and the clamp arm are retracted at the workpiece unloading position. A positioning and conveying apparatus, wherein the main body block is moved in a direction in which the workpiece receiving surface and the workpiece are parallel after being moved. A movable body movably provided between the workpiece loading position and the workpiece unloading position;
A main body block having a work receiving surface fixed to the movable body and in contact with the work;
A first positioning pin provided in the main body block and fitted in a first through hole formed in the workpiece;
A clamp arm received in a slit formed in the first positioning pin;
A second positioning pin provided in the main body block and fitted in a second through hole formed in the workpiece;
Clamp arm driving means for driving the clamp arm from the slit and driving the clamp arm between the workpiece receiving surface and a position where the clamp arm is inserted into the slit;
Retraction driving means for driving each positioning pin between a position protruding from the workpiece receiving surface and a retracted position retracted;
A positioning / conveying apparatus, wherein the positioning pins are fitted into the through holes at the workpiece loading position, and the workpiece is conveyed to the workpiece unloading position while being clamped by the clamp arm.   3. The positioning and conveying apparatus according to claim 1, wherein the workpiece is a door hinge having a first hinge member attached to the door side and a second hinge member attached to the vehicle body side and pin-coupled to the first hinge member. A positioning and conveying apparatus, wherein the positioning pin is fitted into an attachment hole formed in the door hinge and conveyed to the workpiece unloading position.   4. The positioning and conveying apparatus according to claim 1, wherein a magnet that applies an attractive force in a direction toward the workpiece receiving surface to the workpiece is provided on the main body block.

Images