JPH0620019B2 - Fine wire coil take-out and holding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a fine wire rod coil (hereinafter, simply referred to as a coil) having a wire diameter of about 50 μm or less, which is used as one functional component for industrial and consumer products. (Note)), the formed coil is automatically taken out directly from the coiling machine without deformation or damage and is stored directly in the separated container, or is directly assembled into other parts or assembled such as joining. It relates to the field of automation technology for

[Conventional technology]

As a method of taking out this type of coil from a coiling machine which is a coil forming machine, (1) it is naturally dropped from the winding core metal, and (2) it is left on the winding core metal 4 as shown in FIG. The coil 2 is blown by the air jetted from the air nozzle 100 to forcefully drop it, (3) the coil core is directly taken out from the winding core metal manually by using an extraction tool, and is dropped downward, as shown in FIG. It was stored in a fixed container via an inclined chute 102 installed below the gold 4.

The position and orientation of the coils in the container are indefinite, and they are intertwined with each other. Therefore, when combining the coils with other parts, it is necessary to separate them one by one so that the orientation is uniform. Becomes For this purpose, a parts feeder, a vibrating spring separator, a loading device that places the product on a plate that has holes through which the product can pass, vibrates the plate to allow the product to pass through the hole, and keeps the posture constant. A method is used in which a coil is housed in a partitioned container by a mechanical device or manually by using a tool, and the coil is picked up and combined with other parts.

[Problems to be solved by the invention]

In the above-mentioned conventional technology, the method other than the direct manual extraction of (3), because the coil itself is extremely light, it often gets caught on the chute or at the time of commutation, and is often deformed or damaged when dropped or caught. However, there is a drawback that the yield and efficiency are low.

In the case of (3) the manual extraction from the winding core metal 4 by hand, the deformation and damage are small, but there is a drawback that it is time-consuming, inefficient, requires manual labor, is difficult to automate, and is dangerous. It was

Further, the position of the dropped coil is confirmed by a sensor such as a visual camera, and the device for picking up the coil by this has a drawback that the structure is complicated and expensive.

According to the present invention, a coil take-out / holding device is mounted on a moving device such as a robot, a coil lead is directly grasped from a winding core metal of a coiling machine to take out the coil, and the coil is transferred to a suction nozzle of the coil part. It is a cargo handling device that handles a coil by sucking and holding the coil, solves the problems of the conventional technology described above, and removes and holds the coil without degrading the coil characteristics such as coil deformation and damage. An object of the present invention is to provide a device that can be loaded and unloaded.

[Means for solving problems]

The present invention relates to a moving device for taking out and holding a fine wire rod coil made of a raw material of a fine wire rod formed in a shape having a lead portion at both ends and a coil portion at a central portion and combined with other parts. In a device provided above, a fine wire rod coil provided with a pair of grips that is provided on a slider that is driven in a direction parallel to the axis of the device on a holder that forms the main body of the device and that is openably and closably driven. A chuck device for grasping one of the lead parts, a hollow tube shaft having a hollow part that is rotatably supported on the axis of the device on the holder and is driven, and the chuck of the hollow tube shaft. A tubular suction nozzle having a V-groove at a tip end attached to one end near the grip of the device, and a degassing device for degassing from the other end of the hollow tube shaft. Fine wire coil take-out and holding device One in which the.

[Action]

The device of the present invention is mounted on a moving device such as a robot,
The coiling machine and a peripheral device such as an automatic joining machine that joins the lead portion of the coil to the stem of another component are loaded and unloaded with the fine wire coil.

One of the lead portions of the remaining coil formed on the winding core of the coiling machine is grasped by the chuck device, and the moving device moves to take out the coil from the winding core.

The slider is driven on the holder, the chuck device is moved to carry the coil to the position of the suction nozzle, the chuck device opens to suck the coil to the suction nozzle, and the chuck device moves to a position that does not interfere with the work by the suction nozzle. To be done.

The suction nozzle is decompressed by a deaerator that deaerates from the other end of the attached hollow tube shaft to adsorb the coil, and both lead portions of the coil are supported and positioned by the V groove of the suction nozzle.

The coil held by suction by the suction nozzle has its holding angle converted to a desired angle by the rotation of the hollow tube shaft, and the coil is moved to a desired storage device in the storage container and stored by the movement of the moving device. Alternatively, when the lead portion is joined to the stem or the like by being moved to a combination position of the stem or the like of another component and the suction of the suction nozzle is stopped, the coil is left at that position.

The take-out holding device after taking out and holding the coil is restored to its original position with the hollow tube axis, and is restored to the original position of the coil taking-out of the coiling machine by the moving device, and the cargo handling operation of the next cycle is performed. Prepare for

The cooperation operation between the above-mentioned devices is controlled by the control device, and the respective devices cooperate with each other to promptly carry out the cargo handling operation of the coil.

〔Example〕

1 is a plan view showing an embodiment of the present invention, FIG. 2 is a sectional view taken along the line AA of FIG. 1, FIG. 3 is a detailed view showing a portion P of FIG. 2, and FIG. It is a Q arrow line view of a figure.

In FIG. 3, the coil 2 formed by the coiling machine in the form of the fine wire material having the lead portions 2a at both ends and the coil portion 2b at the center is left on the winding core metal 4 of the coiling machine. Has been done.

As shown in FIG. 1 and FIG. 2, the main body of the device is formed, and the mounting hole 5 drives the holder 6 mounted on a moving device (not shown) such as a robot in a direction parallel to the axis 8 of the device. A slider 12 driven by being fixed by a screw 11 is provided on a drive device 10 in which an actuator such as a fluid pressure cylinder, an electric cylinder, an electromagnetic solenoid or the like is fixed to a holder 6 via a mounting plate 9.

A pair of claw portions 14a, 14b are formed so as to be symmetrical with respect to a vertical plane passing through the axis 8 of the device, and the slider 12
The pawl portion 14 is swingably provided by a fulcrum shaft 22 in a space formed by a lid 20 and a slider 12 which are attached to the slider via a spacer 16 with a screw 18.

One end of the pawl portion 14 is one lead portion of the coil 2 described above.
A pair of grip portions 24 for gripping and forming 2a are formed.

A spring attachment hole is provided in the pawl portion 14 on the side of the grip portion 24 with respect to the fulcrum shaft 22, a compression spring is mounted, and a biasing mechanism 26 that biases the grip portion 24 in a direction in which the grip portion 24 is always open is configured.

At the other end of the fulcrum shaft 22 on the side opposite to the grip portion 24, a sloped portion 28a is provided, which is widened in the direction away from the fulcrum shaft 22.

A wedge-shaped cam 28b having a sloped portion with which the sloped portion 28a abuts is provided, and the cam 28b is attached to the actuator 32 such as a fluid pressure cylinder, an electric cylinder, or an electromagnetic solenoid fixed on the slider 12 with a screw 30. Is fixed by a screw 34 and is driven by an actuator 32 in a direction parallel to the axis 8 of the apparatus, and a cam 28b is brought into contact with the inclined surface portion 28a to drive the grip portion 24 to open and close.
Is configured.

As described above, on the slider 12 driven on the holder 6 by the drive device 10, the pair of pawl portions 14 are swingably attached by the fulcrum shaft 22, and the biasing mechanism 26 and the drive mechanism 28 are attached. A chuck device that opens and closes the grip portion 24 at one end of the pawl portion 14 to grip and release one lead portion 2a of the coil 2 and move in a direction parallel to the axis 8 of the device.
Make up 36.

Hollow part which is rotatably supported by the bearings 38a, 38b provided on the holder 6 on the axis 8 of the apparatus and rotationally driven.
A hollow tube shaft 40 having 78 is provided.

A mounting plate 44 is fixed to the end portion of the holder 6 on the side opposite to the grip portion 24 with a screw 42, and a rotating fluid pressure cylinder, a rotary solenoid, a motor such as a step motor is rotated with a screw 46 on the mounting plate 44. An actuator 48 is provided.

A gear 52 is fitted to the output shaft 50 of the rotary actuator 48 and fixed with a set screw 54.

In the hollow tube shaft 40, the side close to the grip portion 24 of the bearing 38a bears the thrust load in one direction by the split collar 57 provided via the collar 56, and the side close to the rotary actuator 48 of the bearing 38b. Gear 58 is keyed through collar 56
Keyed with 60, rotary actuator 48
A coupler 62 is rotatably provided on the hollow pipe shaft 40 on the side close to the position of the hollow pipe shaft 40, and is stopped by a shaft retaining ring 64 provided at the end of the hollow pipe shaft 40. Will be borne.

The gear 52 and the gear 58 are meshed with each other to form a drive device 66 by rotationally driving the rotary actuator 48, and the hollow tube shaft 40 is rotationally driven at a desired angle by the drive device 66.
Is configured.

As shown in the detailed view of FIG. 3, at one end shown in P part of FIG. 2 near the grip portion 24 of the hollow tube shaft 40,
A suction nozzle 70 is attached by a nozzle nut 68.

As shown in FIG. 4 which is a view taken in the direction of the arrow Q in FIG. 3, a V groove 72 for supporting both base portions of the lead portion 2a near the coil portion 2b of the coil 2 is provided at the tip portion of the suction nozzle 70. ing.

A groove 74 is provided on the outer periphery of the hollow tube shaft 40 on the side closer to the rotary actuator 48, and is configured to communicate with the hollow portion 78 of the hollow tube shaft 40 by a plurality of through holes 76.

The end of the hollow portion 78 is sealed with a stopper 80, and on both sides of the groove 74 on the outer peripheral portion of the hollow tube shaft 40, in order to keep airtightness with the coupler 62, a 0 ring 82, 82 are provided.

A bracket 86 is attached to the coupler 62 by screws 84, and the bracket 86 is attached to the holder 6 by screws 88.

The coupler 62 has a hole 90 communicating with the groove 74 of the hollow tube shaft 40.
Is further provided, and the gas pipe 94 is connected via the connection tool 92.

When a vacuum pump via a switching valve (not shown) is used to evacuate the gas through the gas pipe 94, a deaeration device 96 that deaerates from the other end of the hollow tube shaft 40 is formed, and the hollow tube is freely driven to rotate. The coil 2 can be suction-held by the suction nozzle 70 attached to the shaft.

If a degassing device 96 of a small size can be obtained, it can be directly provided at the other end of the hollow tube shaft 40 without using the coupler 62 or the like, and the rotation angle of the hollow tube shaft 40 is ± 90. When the degree is not so large, for example, a large flexible gas pipe 94 formed in a coil shape is directly connected to the other end of the hollow pipe shaft 40 without using the coupler 62 or the like, and is illustrated. The deaeration device 96 is obtained by evacuating through the gas pipe 94 with the vacuum pump through the omitted switching valve.

Next, the cargo handling operation of the coil 2 by the device of the present invention having the above-mentioned configuration will be described.

The device of the present invention is mounted and moved on a moving device such as a robot, and the wedge-shaped cam 28b is driven in the direction of the grip portion 24 by the actuator 32 and abuts on the slope portion 28a. By this, the drive mechanism 28 resists the urging force of the urging mechanism 26, closes the grip portion 24 of the pawl portion 14 that is swingably provided on the fulcrum shaft 22, and forms the winding core metal 4 of the coiling machine. And left coil 2
Grasp the lead portion 2a as shown in FIG.

The take-out and holding device is moved by the moving device in the direction in which the coil 2 is pulled out from the winding core metal 4, and the grip portion 24 is moved to the coil 2
The coil 2 is taken out from the winding core metal 4 by grasping the lead portion 2a of the.

In the chuck device 36, the slider 12 is driven by the drive device 10 in the direction in which the grip portion 24 approaches the suction nozzle 70, and the coil portion 2b of the coil 2 is sucked into the tube of the suction nozzle 70. The coil 2 is moved to a position where the base is supported by the V groove 72, and the movement is temporarily stopped.

A vacuum pump (not shown) is operated and connected through a switching valve (not shown) to connect the gas pipe 94 to the connector 92.
→ Hole 90 → Groove 74 → Through hole 76 → Hollow part 78 → Suction nozzle 70 is evacuated through a gas pipe formed to make the suction nozzle a negative pressure. At the same time, in the grip portion 24, the wedge-shaped cam 28b is driven in the direction opposite to the grip portion by the actuator 32, and the grip portion 24 is opened by the biasing force of the biasing mechanism 26 to grip the lead portion 2a.

As a result, both base portions of the lead portion 2a are supported by the V groove 72,
The coil 2 is sucked and supported by the suction nozzle 70 without being deteriorated in coil characteristics such as deformation and damage, and is transferred from the chuck device 36.

The transfer of the coil 2 from the grip portion 24 to the suction nozzle 70 is performed by freeing the lead portion 2a in order to arrange and store the coil 2 in a container or to join the lead portion 2a to a stem of another component. It is done because it becomes necessary to do.

After the transfer of the coil 2 is completed, the chuck device 36 is moved to a position where the slider 12 is driven by the drive device 10 from a state where the movement is once stopped and the suction nozzle 70 does not hinder the storage and joining work in the container. To be done.

The coil 2 sucked and held by the suction nozzle 70 is moved to the desired storage position of the container by the take-out and holding device moved by the moving device, or moved to the position where the other components are combined with the stem and the like. The lead portion 2a is joined.

The hollow tube shaft 40 having the above-described configuration is rotated to a desired angle by the drive device 66, and the connection device 96 having the above-described configuration is locked in rotation without hindering the rotation of the hollow tube shaft 40.
The suction nozzle 70 is continuously evacuated to a negative pressure through the gas pipeline, and the coil 2 is held in the suction nozzle 70.

After the lead portion 2a is joined to the stem at a desired storage position of the container or a position where the stem is combined with other parts, the switching valve is switched to disconnect the connection with the vacuum pump, and the gas line is at atmospheric pressure. When switched to, the suction nozzle 70 releases the holding of the coil 2, and the coil 2 is stored at the desired storage position in the container.
Alternatively, it may be joined to the stem of another component and left.

After the coil 2 is taken out and held, the hollow take-out holding device is restored by rotating the hollow tube shaft 40 to the original position, and the chuck device 36 is also restored to the take-out position and restored to the original position by the moving device. Then, it prepares for the cargo handling operation of the cycle next.

As described above, each device cooperates with the control device to promptly carry out the cargo handling operation of the coil 2.

The urging mechanism 26 of the chuck mechanism 36 is replaced with the urging mechanism 26 shown in FIG. 1, and the pawl portion 14 on the actuator 32 side of the fulcrum shaft 22 is replaced.
Alternatively, a spring mounting pin may be provided on the spring mounting pin, and a tension spring may be attached to the spring mounting pin so that the grip portion 24 is always biased in the opening direction.

Further, the urging mechanism 26 is provided with a spring mounting pin on the claw portion 14 at the position of the compression spring near the grip portion 24 with respect to the fulcrum shaft 22, and a tension spring is attached to the spring mounting pin, or the fulcrum shaft is attached. A spring mounting hole may be provided in the pawl portion 14 on the side closer to the actuator 32 with respect to 22, and a compression spring may be attached thereto so that the grip portion 24 is always biased in the closing direction.

In this case, the pawl portion 14 and the actuator 32 are connected by a cam device or a link device (not shown) to form a drive mechanism 28, which is driven by the actuator 32 against the urging force of the urging mechanism 26. The gripping portion is opened by 28, the gripping portion 24 is moved to a position where the lead portion 2a is gripped, and the actuator 32 is driven in the opposite direction, whereby the drive mechanism 28 is restored, and the desired force of the biasing mechanism 26 is preset. The grip portion 24 is closed by the urging force set to
Since the grip is held, the lead portion 2a made of the fine wire is not compressed and deformed by an excessive gripping force.

〔The invention's effect〕

The present invention is a device provided on a moving device such as a robot for performing a cargo handling work such as taking out and holding a fine wire coil, and first, a lead portion of a coil formed and left on a winding core metal of a coiling machine. Is gripped by the grip portion of the chuck device, and the coil is taken out from the winding core metal by the movement of the moving device.

When the coil is taken out by this device, the coil is naturally dropped from the conventional wound cored bar, or is blown and forced to drop by air, and is taken out by forced pulling out using a gripping mechanism, etc. It is necessary to store it as it is, and then to separate the coils one by one for the next process to keep the posture constant, and the efficiency of manual work is poor, manual work is required, automation is difficult to measure, dangerous This has the effect of eliminating the disadvantage that

A suction nozzle having a V groove attached to the tip of the hollow tube shaft passes through a gas pipe consisting of a gas pipe, a connecting device, a hollow part of the hollow tube shaft, etc. by a vacuum pump through a switching valve, It is regarded as negative pressure.

The coil whose lead is gripped by the grip is moved closer to the suction nozzle by the movement of the chuck device, the chuck device is temporarily stopped and the grip forms the lead, and the coil is the base of both lead parts adjacent to the coil. Is supported by the V groove of the suction nozzle, positioned by the suction nozzle, sucked, transferred from the chuck device, and held.

The suction nozzle can be detachably replaced according to the size and shape of the coil to be handled.

After the transfer of the coil is completed, the chuck device does not move, and does not hinder the storage and joining work in the container by the suction nozzle.

The coil sucked and held by the suction nozzle takes a desired posture by the desired rotation of the hollow tube shaft, and the take-out holding device is moved by the moving device to move to the desired storage position of the container, or the stem of another component. To the stem, etc., the lead part is joined to the stem, etc., the suction nozzle is brought to atmospheric pressure by switching the switching valve, the coil holding is released, and the ejection holding device restores to the original position. It can be stored in a desired storage position of the container, or can be joined to the stem or the like of another component.

Equipment such as coiling machine, moving equipment, peripheral equipment,
Since the operation is controlled in cooperation with the take-out holding device by the control device, it is possible to obtain the take-out holding device for the fine wire coil which is efficiently and automatically operated.

[Brief description of drawings]

1 is a plan view showing an embodiment of the present invention, FIG. 2 is a sectional view taken along the line AA of FIG. 1, FIG. 3 is a detailed view showing a portion P of FIG. 2, and FIG. FIG. 5 is a view taken in the direction of arrow Q, and FIG. 5 is a perspective view showing a conventional example. 2 ... Coil, 2a ... Lead part, 2b ... Coil part, 4 ...
… Winding core, 6 …… Holder, 8 …… Device axis, 10 ……
Drive device, 12 ...... Slider, 14 ...... Pawl part, 22 ...... Support shaft, 24 ...... Grip part, 26 ...... Biasing mechanism, 28 ...... Driving mechanism, 32 ...... Actuator, 36 ...... Chuck device, 40 ...
… Hollow tube shaft, 48 …… Rotary actuator, 52,58 …… Gear, 62 …… Coupler, 70 …… Suction nozzle, 72 …… V groove,
78 …… Hollow part, 82 …… 0 ring, 86 …… Bracket, 94
...... Gas piping, 96 …… Deaerator, 100 …… Air nozzle, 1
02 …… Inclined shoot.

Claims (5)

[Claims] 1. A movement for taking out and holding a fine wire rod coil made of a raw material of a fine wire rod formed in a shape having a lead portion at both ends and a coil portion at a central portion and combined with other parts. In a device provided on a device, a fine wire rod provided with a pair of grips that is provided on a slider that is driven in a direction parallel to the axis of the device on a holder that forms the main body of the device and that is openably and closably driven. A chuck device for grasping one of the lead parts of the coil, a hollow tube shaft having a hollow part that is rotatably supported on the axis of the device on the holder and is rotationally driven, A tubular suction nozzle having a V-groove at the tip end attached to one end near the grip of the chuck device, and a deaerator for deaerating from the other end of the hollow tube shaft. Fine wire coil extraction and holding device Place 2. A device according to claim 1, wherein a pair of pawl parts are formed so as to be symmetrical with respect to a vertical plane passing through the axis of the device, and are swingably supported by respective fulcrum shafts. And a chuck device having a biasing mechanism for constantly biasing the grip portion at one end of the pawl portion in either one of the open and closed directions, and a drive device for driving against the biasing force of the biasing mechanism. A device for taking out and holding a fine wire coil, which is characterized in that: 3. A fine wire rod coil according to claim 2, wherein the drive device for driving against the urging force of the urging mechanism comprises a cam mechanism driven by an actuator. Take-out holding device. 4. The fine wire rod coil according to claim 2, wherein the drive device for driving against the urging force of the urging mechanism comprises a link mechanism driven by an actuator. Take-out holding device. 5. The apparatus according to claim 1, wherein a deaerator for deaerating from the other end of the hollow tube shaft is provided through a rotary joint provided at the other end of the hollow tube shaft. A device for taking out and holding a fine wire coil, which is a device connected to an on-off valve and a vacuum pump device by piping.