JP2019038069A - Transfer equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly transfer a work by a robot arm. A transfer device (carry-in robot 11, carry-out robot 12) includes a robot arm 20 having a hand portion 22 at its tip. The hand portion 22 has a support portion 22a that supports the conveyed object (work W and the jig 40) from below while allowing movement in all directions in the horizontal direction, and a hand portion 22 that supports the conveyed object supported by the support portion 22a. On the other hand, a positioning means for positioning in a first horizontal direction (width direction) and a second horizontal direction (conveying direction) orthogonal to the first horizontal direction (width direction) is provided. [Selection diagram] FIG. 7

Description

  The present invention relates to a transfer apparatus.

  For example, in an automobile assembly line, a door is removed from a car body that has undergone a painting process, various parts are assembled to the door, and then attached to the car body again. At this time, the carrying device for carrying the door may be different in the fitting process for fitting the parts to the door, the carrying-in process for carrying the door to the fitting process, and the carrying-out process for carrying the door carried out from the fitting process. . In this case, it is necessary to transfer the work (door) conveyed by the conveyance device of the previous process to the conveyance device of the next process.

  For example, Patent Document 1 below shows that a door removed from a vehicle body is transferred to a hanger conveyor by a robot arm.

JP 2007-145561 A

  However, if there is a variation in the position of the workpiece conveyed by the conveyance device in the previous process, the workpiece holding state (relative position between the hand unit and the workpiece) of the robot arm varies. There is a possibility that the workpiece cannot be transferred smoothly.

  Therefore, an object of the present invention is to smoothly transfer a workpiece by a robot arm.

  In order to solve the above-mentioned problems, the present invention provides a transfer device including a robot arm having a hand portion at a tip, and the hand portion moves a transport object downward in a state in which movement in all horizontal directions is permitted. And a positioning means for positioning the transported object supported by the support portion with respect to the hand portion in a first horizontal direction and a second horizontal direction perpendicular thereto. A transfer device is provided.

  As described above, the support part provided in the hand part of the robot arm supports the conveyed object from below in a state in which movement in all horizontal directions is allowed (so-called floating support), and in this state, it is conveyed by the positioning means. By positioning the object in two orthogonal horizontal directions, the variation in the position of the conveyed object in the previous process can be corrected. Thereby, it becomes possible to always hold the transported object in the same state (relative position) by the hand portion of the robot arm, and the transported object can be smoothly transferred to the next process.

  The positioning means is provided, for example, in a clamping unit that clamps the conveyed product from both sides in the first horizontal direction, and a contact portion between the clamping unit and the conveyed product, and the conveyed product is arranged in the second horizontal direction with respect to the hand unit. And a guide mechanism for guiding. According to this configuration, the conveyed product that is floating-supported by the support portion of the hand unit is clamped by the clamping unit, so that the conveyed product is positioned in the clamping direction (first horizontal direction) with respect to the hand unit. The guide mechanism provided at the abutting portion between the clamping unit and the conveyed product positions the conveyed product in the horizontal direction (second horizontal direction) perpendicular to the clamping direction with respect to the hand unit.

  For example, when the conveyed product includes a workpiece to be transferred to the conveyance device in the next process and a jig that supports the workpiece from below, the workpiece and the jig need to be held by the hand unit. In this case, if the hand member is provided with a locking member for pressing the workpiece from above, the workpiece and the workpiece can be held by pressing the workpiece from above with the locking member while the jig is supported from below by the support portion of the hand portion. The conveyed product including the jig can be collectively held by the hand unit.

  As described above, according to the transfer device of the present invention, the transported object can be held in a state where it is accurately positioned by the hand portion of the robot arm, so that the transported object can be transferred smoothly.

It is a top view of the assembly equipment of the door of a motor vehicle. It is a top view of a trolley. It is XX sectional drawing of FIG. It is a side view of the assembly equipment of FIG. (A) is a side view of a hanger, (B) is the front view. (A) is a side view of the jig, (B) is a front view thereof, and (C) is a plan view thereof. (A) is a top view of the hand part of a transfer robot, (B) is the same side view. (A) And (B) is a top view of the guide mechanism which positions a conveyed product (jig) with respect to a hand part in a conveyance direction. It is a front view which shows a mode that the hand part of a transfer robot and the jig | tool hold | maintained by this are accessed to a workpiece | work (hanger and door) from the downward direction. It is a front view which shows a mode that a workpiece | work is hold | maintained via a jig | tool with the hand part of a transfer robot.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows an automobile door assembly facility. This assembly facility includes a door fitting line L1 for assembling various parts to the door, a carry-in line L2 for loading the door before the various parts are attached to the door fitting line L1, and a door with the various parts attached to the door fitting line L1. And an unloading line L3. In the following description, the transport direction of each line is referred to as “transport direction”, and the horizontal direction orthogonal to the transport direction is referred to as “width direction”.

  The door equipping line L1 has a transport device that transports the door, and an operator assembles various parts to the door transported by the transport device. In the present embodiment, a plurality of carriages 200 are provided as the transfer device. The cart 200 is an automated guided vehicle (AGV), for example, and travels in a loop along a magnetic tape 210 affixed to the floor surface. Specifically, as shown in FIG. 2, the carriage 200 includes a main body 201 (only the outer frame is illustrated), wheels provided on the bottom surface of the main body 201 (a driving wheel 202, a steering wheel 203a, and a driven wheel 203b), A reader 204. The carriage 200 travels along the magnetic tape 210 by driving the driving wheel 202 and the steering wheel 203 a while reading the magnetic tape 210 by the reader 204. In addition, the conveying apparatus of the door fitting line L1 is not limited to the carriage 200 (AGV), and may be a floor conveyor or the like.

  The door equipping line L1 is provided with a carriage positioning means for positioning the carriage 200 at a predetermined position. In the present embodiment, in the door fitting line L1, in the carry-in area L1a into which the door before various parts are attached and the carry-out area L1b (see FIG. 1) to carry out the door to which various parts are attached, A carriage positioning means is provided. In the present embodiment, a first carriage positioning means for positioning the carriage 200 in the width direction and a second carriage positioning means for positioning the carriage 200 in the transport direction are provided.

  The first carriage positioning means includes a locked portion provided on the carriage 200 and a locking portion provided on the floor surface (stationary side), and the locking portion and the locked portion are wide. By engaging in the direction, the carriage 200 is positioned in the width direction. As shown in FIG. 2, the first cart positioning means of the present embodiment includes a rail 220 as a locking portion provided on the floor surface and a locked portion 205 provided on the main body 201 of the cart 200. Composed. As shown in FIG. 3, the locked portion 205 includes a pair of wheels 205 a that can be fitted to the rail 220. When the pair of wheels 205a of the locked portion 205 of the carriage 200 is fitted to the rail 220, the movement of the locked portion 205 to both sides in the width direction is restricted, thereby positioning the carriage 200 in the width direction. . The first cart positioning means is not limited to the above, and for example, the first cart positioning means may be configured by a pair of guide rails that contact the main body 201 of the cart 200 from both sides in the width direction.

  The second carriage positioning means is composed of a locked portion provided on the carriage 200 and a locking portion provided on the floor surface (stationary side), and the locking portion and the locked portion are conveyed. By engaging in the direction, the carriage 200 is positioned in the transport direction. As shown in FIG. 2, the second carriage positioning means of the present embodiment includes a locked portion 206 provided on the main body 201 of the carriage 200 and a contact portion 230 provided on the floor surface (stationary side). It consists of. The contact portion 230 includes a first contact member 231 that can contact the locked portion 206 from the downstream side in the transport direction (right side in FIG. 2), and the upstream side of the locked portion 206 in the transport direction (in FIG. 2). A second abutting member 232 that can abut from the left side. Both the abutting members 231 and 232 are located between a position where the abutting portion 206 can abut on the locked portion 206 (see the solid line in FIG. 2) and a position retracted from the movement path of the locked portion 206 (see the dotted line in FIG. 2). It can be moved between.

  A hanger conveyor is provided in the carry-in line L2 and the carry-out line L3, and in this embodiment, a common hanger conveyor 100 is provided in the carry-in line L2 and the carry-out line L3 (see FIG. 1). That is, the door before assembling the parts is transferred from the hanger conveyor 100 to the door fitting line L1, and various parts are assembled to the door by the door fitting line L1, and then the door is assembled from the door fitting line L1 to the hanger. Transfer to the conveyor 100. In addition, you may provide a separate hanger conveyor in the carrying-in line L2 and the carrying-out line L3.

  As shown in FIG. 4, the hanger conveyor 100 includes a rail 101 and a hanger carrier 102 as a transport device that travels along the rail. The hanger carrier 102 includes a hook 102a. By hooking the upper portion of the hanger W1 on the hook 102a, the hanger W1 and a door W2 mounted thereon (hereinafter, collectively referred to as a workpiece W) are suspended and held. The

  As shown in FIGS. 5A and 5B, the hanger W1 includes an upper frame W11 that is locked to the hook 102a of the hanger carrier 102, a pair of lower frames W12 that are spaced apart in the width direction, A pair of connection frames W13 that connect the frame W11 and the lower frame W12, and an intermediate frame W14 that connects the upper and lower intermediate portions of the pair of connection frames W13 in the horizontal direction are provided. A support portion W15 that supports the lower portion of the door W2 is attached to the lower frame W12. In the present embodiment, as shown in FIG. 5B, support portions W15 are provided on both sides in the width direction of the lower frame W12, and the lower portions of the doors W2 are placed on the respective support portions W15. The support portion W15 is provided with a V-groove on the upper surface, whereby the lower portion of the door W2 is positioned in the width direction. The middle part of the door W2 in the vertical direction is held on the hanger W1 by holding means (not shown).

  The above door assembly facility is provided with a transfer device for transferring the workpiece W between the hanger conveyor 100 and the door fitting line L1. In this embodiment, as shown in FIG. 1, a loading robot 11 is provided as a transfer device for transferring a workpiece W from the hanger conveyor 100 (loading line L2) to the door fitting line L1, and the hanger conveyor is connected from the door fitting line L1. An unloading robot 12 is provided as a transfer device for transferring the workpiece W to (unloading line L3). A temporary placement table 30 is provided between the carry-in robot 11 and the carry-out robot 12 for placing the jig 40 used when the workpiece W is transferred.

  As shown in FIGS. 6A to 6C, the jig 40 includes a rectangular base 41, a support 42 extending upward from the base 41, and a holding portion 43 provided on the top of the support. The support columns 42 are provided at two locations separated in the transport direction. The holding portion 43 includes a concave portion 43a provided at the center in the width direction, a pair of inner guide surfaces 43b that are continuous with the upper end of the concave portion 43a and are inclined outward in the width direction as going upward, and on the outer side in the width direction of the holding portion 43. A pair of outer guide surfaces 43c provided on the side surfaces and inclined inward in the width direction as going upward. A through hole 44 penetrating in the vertical direction is provided at the center of the base 41. A support portion 45 that supports the hanger W <b> 1 from below is provided on the upper surface of the base 41.

  In the present embodiment, the carry-in robot 11 and the carry-out robot 12 have the same configuration, and each includes a multi-joint arm 21 and a robot arm 20 having a hand portion 22 provided at the tip thereof (see FIG. 4). As shown in FIG. 7, the hand unit 22 includes a support unit 22 a that supports a conveyed product (work W and jig 40) from below, positioning means that positions the conveyed product on the hand unit 22 in a horizontal plane, Fixing means for fixing the object to the hand portion 22.

  The support portion 22a supports the conveyed product from below (so-called floating support) in a state in which movement in all horizontal directions is allowed. In the present embodiment, the support portions 22a are provided at three or more locations (three locations in the illustrated example) that are not on a straight line. As the support portion 22a, for example, a ball bearing having a freely rotatable ball is used. By placing the conveyed product on the balls of the plurality of ball bearings, the conveyed product is supported in a floating manner. Note that the support 22a may be configured to slide and support the conveyed product. However, a ball bearing or the like that rolls and supports the conveyed product is preferable because the resistance to the horizontal movement of the conveyed product is small.

  The hand unit 22 of the present embodiment includes, as positioning means, a clamping unit that clamps the conveyed product from both sides in the width direction with respect to the hand unit 22 and a guide mechanism that guides the conveyed product to the hand unit 22 in the conveying direction. Have.

  The clamping portion includes a fixed contact portion 22b that contacts the base 41 of the jig 40 from one side in the width direction, and a movable contact portion 22c that contacts the base 41 of the jig 40 from the other side in the width direction. The movable contact portion 22c is driven in the width direction by a cylinder 22d as a drive portion.

  The guide mechanism is provided at a contact portion between the holding portion and the conveyed product. In the present embodiment, a guide mechanism is configured by the guide portion 22b1 provided on the fixed contact portion 22b of the hand portion 22 and the guided portion 46 provided on the base 41 of the jig 40 (see FIG. 8). ). The guide portion 22b1 has a guide surface 22b10 that is inclined with respect to the width direction and the conveyance direction in a plan view shown in FIG. In the illustrated example, a pair of guide surfaces 22b10 arranged in a V shape in plan view is provided on the side surface in the width direction of the guide portion 22b1. The guided portion 46 is provided at a position facing the guide portion 22b1 in the width direction. In the illustrated example, a pair of guided surfaces 46 a arranged in a mountain shape having the same shape as the guide surface 22 b 10 of the guide portion 22 b 1 is provided on the side surface of the guided portion 46 on the outer side in the width direction.

  As the fixing means, for example, a locking member 22e and a cylinder 22f as a driving unit for driving are provided. The cylinder 22f rotates the locking member 22e by 90 ° and drives it in the vertical direction (direction orthogonal to the base 41).

  Hereinafter, a method for transporting the workpiece W in the door assembly facility will be described.

  First, the jig 40 placed on the temporary table 30 is mounted on the hand unit 22 of the loading robot 11. As shown in FIG. 4, since the concave portion 31 is formed in the intermediate portion in the conveyance direction of the temporary table 30, a space G <b> 1 is provided below the base 41 of the jig 40 placed on the temporary table 30. In this space G1, the hand unit 22 of the carry-in robot 11 is arranged, and the hand unit 22 is raised to lift the jig 40. At this time, the jig 40 is lifted in a state where the hand portion 22 is leveled, specifically, in a state where the upper ends of all the support portions 22a provided in the hand portion 22 are arranged in the same horizontal plane. Accordingly, as shown in FIGS. 7A and 7B, the base 41 of the jig 40 is floatingly supported from below by the support portion 22a of the hand portion 22 in a horizontal state. At this time, the locking member 22 e of the hand portion 22 is inserted into the through hole 44 of the base 41 of the jig 40 and protrudes upward from the base 41.

  In this state, the base 41 of the jig 40 is clamped from both sides in the width direction by the clamping parts (the fixed contact part 22b and the movable contact part 22c) of the hand part 22. Specifically, by pulling the movable contact portion 22c of the hand portion 22 inward in the width direction by the cylinder 22d, the base 41 of the jig 40 is moved from both sides in the width direction by the movable contact portion 22c and the fixed contact portion 22b. The jig 40 is clamped and positioned with respect to the hand portion 22 in the width direction (first horizontal direction). At this time, as indicated by an arrow in FIG. 8A, the guided portion 46 provided on the base 41 of the jig 40 is guided by the guide surface of the guide portion 22b1 provided on the fixed contact portion 22b of the hand portion 22. It is pressed against 22b10 and guided in the transport direction (left and right direction in FIG. 8) while sliding on the guide surface 22b10. Then, as shown in FIG. 8 (B), the jig-shaped guided surface 46a and the V-shaped guide surface 22b10 are fitted to each other, so that the jig 40 is moved in the transport direction (second In the horizontal direction). As described above, the jig 40 is mounted on the hand unit 22 in a state where the jig 40 is positioned in two orthogonal horizontal directions (width direction and conveyance direction) with respect to the hand unit 22. As described above, in this embodiment, the guide mechanism (the guide portion 22b1 and the guided portion 46) is provided at the contact portion between the holding portion (fixed contact portion 22b) and the conveyed product (the jig 40), thereby holding the holding portion. The conveyed product can be positioned in the width direction and the conveying direction on the hand unit 22 only by the operation of holding the conveyed product by the unit.

  Next, the hand unit 22 of the loading robot 11 on which the jig 40 is mounted is moved to the workpiece W conveyed by the hanger conveyor 100, and the workpiece W is transferred from the hanger carrier 102 to the hand unit 22 (FIGS. 1 and FIG. 1). 4 arrow A1). Specifically, as shown in FIG. 9, the hand portion 22 and the jig 40 mounted on the hand portion 22 are raised from below the workpiece W conveyed by the hanger conveyor 100. At this time, the outer guide surface 43c provided on the holding portion 43 of the jig 40 comes into contact with the pair of lower frames W12 of the hanger W1 from the inside, so that the hanger W1 is positioned in the width direction with respect to the jig 40. The

  Thereafter, by further raising the jig 40, as shown in FIG. 10, the intermediate frame W14 of the hanger W1 is fitted into the concave portion 43a of the holding portion 43 of the jig 40, and the support portion 45 of the jig 40 is fitted. However, the lower frame W12 of the hanger W1 is supported from below. In this way, not only the lower part of the work W (lower frame W12) is held, but also the work W is stabilized by holding the vertical intermediate part (intermediate frame W14) of the work W in the width direction with the jig 40. Can be held in a state. In this state, the locking member 22e is rotated 90 ° by the cylinder 22f {see the dotted lines in FIGS. 7A and 7B}, and the locking member 22e is pulled downward to lower the lower frame W12 of the hanger W1. Hold from above. Thereby, the base 41 and the support part 45 of the jig 40 and the lower frame W12 of the hanger W1 are sandwiched from above and below by the support part 22a and the locking member 22e of the hand part 22, and the workpiece W and the jig 40 (conveyance) Is fixed to the hand portion 22.

  Next, the jig 40 and the workpiece W held by the hand unit 22 of the carry-in robot 11 are transferred to the carriage 200 arranged in the carry-in area L1a of the door fitting line L1 (see arrow A2 in FIGS. 1 and 4). . The carriage 200 is stopped in a state where the carriage 200 is positioned at a predetermined position in the carry-in area L1a by the carriage positioning means. Specifically, when the empty cart 200 enters the carry-in area L1a, the pair of wheels 205a of the locked portion 205 of the cart 200 is fitted with the rail 220 as shown in FIG. Thereby, the movement to the both sides of the width direction of the to-be-latched part 205 is controlled, and the cart 200 is positioned in the width direction. Further, the first contact member 231 is protruded into the travel path of the carriage 200, and the locked portion 206 of the carriage 200 is brought into contact with the first contact member 231 from the downstream side. Thereafter, the second contact member 232 is brought into contact with the locked portion 206 from the downstream side. In this manner, the cart 200 is positioned in the transport direction by sandwiching the locked portion 206 of the cart 200 from both sides in the transport direction with both contact members 231 and 232. As described above, the carriage 200 is positioned in both the width direction and the conveyance direction.

  The carriage 200 has a recess 200a at the intermediate portion in the transport direction (see FIG. 4). For this reason, when the conveyed product (work W and jig 40) held by the hand unit 22 is placed on the carriage 200, a space G2 is formed below the conveyed product, and the hand of the loading robot 11 is formed in the space G2. The part 22 is accommodated. Thereafter, the locking member 22e is raised by the cylinder 22f and rotated by 90 ° {see the solid lines in FIGS. 7A and 7B}, and the movable contact portion 22c of the hand portion 22 is retracted outward in the width direction by the cylinder 22d. Then, the fixing of the hand unit 22 and the conveyed product (work W and jig 40) is released. In this state, the hand part 22 is lowered and separated from the jig 40. As described above, the conveyed product (work W and jig 40) is transferred from the carry-in robot 11 to the carriage 200 on the door fitting line L1.

  Next, in the door fitting line L1, various parts are assembled to the door W2 while the work 200 is conveyed in a loop by the carriage 200 (see FIG. 1). Then, the carriage 200 on which the door W2 on which the predetermined part is assembled is mounted enters the carry-out area L1b and stops in a state where the carriage 200 is positioned at the predetermined position by the carriage positioning means. Since the positioning method of the carriage 200 in the carry-out area L1b is the same as the positioning method of the carriage 200 in the carry-in area L1a, detailed description is omitted.

  And the conveyed product (work W and jig | tool 40) mounted in the trolley | bogie 200 stopped in the predetermined position of the carrying-out area L1b is hold | maintained integrally with the carrying-out robot 12. FIG. Specifically, the hand unit 22 of the unloading robot 12 is placed in the space G2 below the transported object placed on the carriage 200 and raised, and the transported object (work W and jig) is supported by the support unit 22a of the hand unit 22. Lift tool 40) slightly to support floating. In this state, as shown in FIG. 7A, the base 41 of the jig 40 is sandwiched from both sides in the width direction by the sandwiching portions (the movable contact portion 22c and the fixed contact portion 22b) of the hand portion 22, and at the same time, the guide By fitting the portion 22b1 and the guided portion 46, the workpiece W is positioned on the hand portion 22 in the width direction and the conveyance direction. Then, the locking member 22e is rotated by 90 ° and then pulled downward, and the jig 40 and the hanger W1 are sandwiched from above and below by the support portion 22a and the locking member 22e, so that the conveyed product (work W and jig 40) is fixed to the hand part 22. The procedure for positioning the jig 40 on the hand portion 22 of the carry-out robot 12 is the same as the procedure for positioning the jig 40 by the hand portion 22 of the carry-in robot 11, and detailed description thereof is omitted. To do.

  At this time, the conveyed product (work W and jig 40) is merely placed on the carriage 200 and is not accurately positioned on the carriage 200. In the present embodiment, as described above, the transported object is once lifted by the hand unit 22 of the unloading robot 12 and is floatingly supported. In this state, the transported object is horizontal with respect to the hand unit 22 (width direction and transport direction). By positioning, even if the position of the conveyed product on the carriage 200 varies, the conveyed product can be accurately positioned on the hand unit 22. In this way, by accurately holding the conveyed product at a predetermined position by the hand unit 22, the workpiece W can be smoothly transferred to the conveyance device (hanger conveyor 100) in the next process.

  Thus, the workpiece W held by the hand portion 22 of the unloading robot 12 is transferred to the hanger carrier 102 of the hanger conveyor 100 (see arrow B1 in FIGS. 1 and 4). Specifically, the upper frame W11 of the hanger W1 is hooked on the hook 102a of the hanger carrier 102. Thereafter, the locking member 22e is lifted by the cylinder 22f and then rotated by 90 [deg.] (See the solid line in FIG. 7A) to release the fixing of the hand portion 22 and the workpiece W. In this state, the hand portion 22 and the jig 40 are separated from the work W by lowering the hand portion 22 and the jig 40 mounted thereon.

  Next, the jig 40 attached to the hand unit 22 of the carry-out robot 12 is placed on the temporary placement table 30 (see arrow B2 in FIGS. 1 and 4). Specifically, as shown in FIG. 4, the base 41 of the jig 40 is placed on the temporary table 30. At this time, the hand portion 22 that holds the jig 40 is disposed in a space G <b> 1 provided below the base 41. Then, after the movable contact portion 22c of the hand portion 22 is retracted outward in the width direction by the cylinder 22d, the hand portion 22 is lowered to separate the hand portion 22 from the jig 40. Thereafter, the jig 40 placed on the temporary placement table 30 is again held by the carry-in robot 11 and used to transfer the workpiece W from the hanger conveyor 100 to the door fitting line L1. At this time, the jig 40 placed on the temporary table 30 is not accurately positioned on the temporary table 30, but the jig 40 is temporarily floated by the hand portion 22 of the loading robot 11 as described above. After the support, the jig 40 is positioned with respect to the hand portion 22 in the horizontal direction, so that the jig 40 can be accurately held at a predetermined position by the hand portion 22 of the loading robot 11. By repeating the above, the assembly process of the door W2 is sequentially performed.

  As described above, when the workpiece W is held and transferred by the transfer device (the carry-in robot 11 and the carry-out robot 12), the hand W 22 of the robot arm 20 holds the workpiece W via the jig 40. Thus, not only the lower portion of the workpiece W is supported, but also the intermediate portion in the vertical direction of the workpiece W is positioned in the width direction by the holding portion 43, so that the workpiece W can be stably held. In particular, when the workpiece W is transferred from the carriage 200 to the hanger conveyor 100 by the unloading robot 12, the position of the upper end of the workpiece W (the upper frame W11 of the hanger W1) is held by holding the workpiece W at a plurality of locations in the vertical direction. Therefore, the upper frame W11 of the hanger W1 can be smoothly hooked on the hook 102a of the hanger carrier 102.

  For example, when the jig 40 having the holding portion 43 and the support column 42 is integrally provided on the hand portion 22 of the robot arm 20, the hand portion 22 becomes large, so that when the work W is mounted on the cart 200, the cart When the workpiece W is picked up from 200, there is a possibility that the support column 42 and the like provided in the hand unit 22 may interfere with the workpiece W, the carriage 200, and the like. Therefore, in the present embodiment, as described above, the jig 40 and the hand portion 22 of the robot arm 20 are attached and detached, so that the jig 40 and the workpiece W are mounted on the carriage 200 in an integrated state. . Thereby, when mounting the workpiece | work W in the trolley | bogie 200 or holding the workpiece | work W on the trolley | bogie 200, the handling of the hand part 22 becomes easy. In this case, it is necessary to hold the jig 40 and the workpiece W integrally with the hand portion 22 of the robot arm 20. In the present embodiment, as described above, the jig 40 and the hanger W1 are sandwiched from above and below by the support portion 22a and the locking member 22e of the hand portion 22, thereby fixing them to the hand portion 22 at once. Can do.

  The present invention is not limited to the above embodiment. For example, the positioning means for positioning the conveyed product on the hand portion 22 of the robot arm 20 of the transfer device (the carrying-in robot 11 and the carrying-out robot 12) is not limited to the above. For example, the first means for clamping the conveyed product in the width direction. You may comprise a positioning means with a clamping part and the 2nd clamping part which clamps a conveyed product in a conveyance direction.

  Further, the guide mechanism for guiding the conveyed product in the conveying direction on the hand unit 22 is not limited to the above. For example, in the above-described embodiment, the guide surface 22b10 of the guide portion 22b1 and the guided surface 46a of the guided portion 46 have the same shape. However, the present invention is not limited thereto. For example, the guided portion 46 has a cylindrical shape. Alternatively, the guide mechanism may be configured by forming a polygonal column shape and fitting the guided portion 46 into a V-shaped guided surface 46a. In the above-described embodiment, the guided portion 46 is provided only in the fixed contact portion 22b. However, the guide portion 46 is not limited thereto, and the guided portion 46 is provided only in the movable contact portion 22c or the fixed contact portion. You may provide in both 22b and the movable contact part 22c. In this case, the guide part 22b1 is provided in the jig 40 at a position facing each guided part 46 in the width direction. In the above embodiment, the V-shaped guide surface 22b10 is provided in the sandwiching portion (fixed contact portion 22b), and the chevron-shaped guided surface 46a is provided in the conveyed product (jig 40). However, conversely, a V-shaped guide surface is provided on the conveyed product (jig 40), and a guided portion such as a chevron is provided on the clamping portion (fixed contact portion 22b or movable contact portion 22c). May be.

  Further, the transfer device of the present invention is not limited to transfer of workpieces in door assembly facilities, and can be applied regardless of the type of workpiece or process as long as transfer is performed using a robot.

11 Carry-in robot (transfer equipment)
12 Unloading robot (transfer equipment)
20 Robot arm 22 Hand part 22a Support part 22b Fixed contact part (clamping part)
22b1 guide part (guide mechanism)
22c Movable contact part (clamping part)
22e Locking member 40 Jig 41 Base 46 Guided portion (guide mechanism)
100 Hanger Conveyor 200 Dolly 210 Magnetic Tape 220 Rail L1 Door Fitting Line L2 Carry-in Line L3 Carry-out Line W Work (Door and Hanger)
W1 Hanger W2 Door

Claims (1)

A transfer device provided with a robot arm having a hand portion at the tip,
The hand unit supports a conveyed product from below in a state in which movement in all horizontal directions is allowed, and the conveyed product supported by the support unit is first horizontal with respect to the hand unit. And a positioning means for positioning in a second horizontal direction perpendicular to the direction.

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