JPS59115144A - Tool replacement device - Google Patents

Abstract

PURPOSE:To feed tools and works to a robot in good timing, by incorporating an arrangement composed of a hand to grasp the jig, which supports tools and works, a pallet to feed and collect the tools, jigs and hands to/from the robot, and a conveyor to transport the pallets. CONSTITUTION:On a pallet 104 are placed in rows and columns a plurarity of holder tables 108, which shall locate tools 122, jigs 123 and hands 124. A controller 101 puts them in arrangement and emits signals for a pallet 104 on a stand-by station 103 to provide convergence on a conveyor 105. The pallets are thus fed to No.1 robot 106 as assembly device. When confirmation of pallet is made at a stop station on conveyor by a switch incorporated in the pallet 104, the controller 101 transfers to the pallet 104 those of tools, jigs and hands used which are nor required any more and loads those necessary at the following stage.

Description

[Detailed Description of the Invention] Industrial Field of Application The present invention supplies and replaces tools, jigs, and hands necessary for gripping workpieces necessary for a line of multiple general-purpose assembly robots for multiple models. Figure 1 shows a conventional switching method on a general-purpose automatic assembly line. During normal production, when a general-purpose assembly device 1 (hereinafter referred to as a robot) receives an arrival signal of an assembly jig pallet 3 flowing through an assembly jig plate conveyor 2 (hereinafter referred to as a conveyor), a component supply conveyor 4
Works are taken from the parts basket 6 above and assembled onto the assembly jig pallet 3. When switching models, each robot automatically transfers unnecessary tools, jigs, and hands to the holding table 7 set next to each robot based on the signal from the controller 6, and transfers unnecessary tools, jigs, and hands to the holder table 7 set next to each robot, and transfers unnecessary tools, jigs, and hands to the holder table 7 set next to each robot. Tools, jigs, and hands were automatically chucked from the holder table 7. However, with the above switching method, it is necessary for each robot to prepare the tools, jigs, and hands necessary for all the tasks that may be performed at the time when the robot model changes, and the communication between processes is reduced. Therefore, it was necessary to maintain a fairly redundant number of lines as a whole.

Alternatively, in order to reduce the number of tools, jigs, and hands mentioned above, there is a method of preparing only the tools, jigs, and hands of the following models necessary for each robot 1, but this requires a person to hand them out or a dedicated feeding device. there were.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned drawbacks and provides a tool exchange method that centrally manages recently required tools, jigs, and hatches and supplies them to a robot in a timely manner.

Structure of the Invention The present invention provides tools necessary for work, a jig for supporting and positioning a workpiece, a hand for holding these tools and jigs, and a tool for supporting, positioning, and supplying the tools, jig, and hand to a robot. In addition, there is a conveyor that transports the jig plate to be recovered (hereinafter referred to as a switching jig pallet) and this switching jig pallet along a predetermined route, and a conveyor that transports the jig plate to be recovered (hereinafter referred to as a jig pallet for comparison) and the hand that is distributed along this conveyor. An entire line of tools, including multiple robots with arms that can be automatically attached and detached.

It is extremely advantageous for reducing the number of jigs and hands and for timely switching.

DESCRIPTION OF THE EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 2 to 5. In Fig. 2, the controller ioi has information on the types of tools, jigs, and hands required in relation to the model and process for switching, as shown in Table 1, and a person can switch to the next model IIJo through the terminal @102. When you enter
The controller 101 connects the terminal device 102 based on the information.
Outputs the tool, jig, and hand names that should be aligned. The tools, jigs, and hand names required for each output process are set in a switching jig palette 104 on the evacuation station 103.

Table 1 FIG. 3 shows the structure of the switching jig pallet.

Tools are shown on the switching jig pallet (Fig. 3) 104.

A plurality of holding stands 10B for positioning jigs and hands are arranged. Each holding stand 108 is provided with two positioning bins 109, and for hand tools,
A position hole (Fig. 5 110) corresponding to the bottle 109 is formed on the receiving surface.
), and can be set on any holding table 108.

For tools, please use the special holding stand 10B.
Depending on the tool, the holding condition 108 can also be replaced. The controller 101 specifies the position of each tool, jig, and hand on the holding table 108, and each robot stores the necessary tools, jigs, hands, and the location number of the holding table 108 where they are positioned as information. ing. In FIG. 2, when a predetermined production amount is completed, the controller 101 automatically sends a start signal to the switching jig pallet 104 on which tools, jigs, and hands are already positioned and prepared on the shelter station 103 for assembly. The first robot) 106 automatically merges with the conveyor 107.
is supplied to The assembly transport conveyor 105 is a free-flow conveyor system, which is used both for transporting the assembly jig pallet shown in FIG. 4, which normally has the same external dimensions as the switching jig pallet shown in FIG. 3, and for automatic assembly by each robot. Position the jig pallet. The assembly jig pallet shown in FIG. 4 is designed so that leg fixing bins 111 for positioning the legs can be replaced to accommodate a variety of product leg sizes.

Using conveyor 102i, switching jig pallet 10
4 is supplied to the robot 106, the switching jig pallet) 10 is delivered to the stop station of the assembly conveyor 105.
4 detects that it is the switching jig pallet 104. When detected, the tool that has been used until now is activated according to instructions from the controller 101.
The robot itself transfers unnecessary tools, jigs, and nodes to the switching jig pallet (104) and grasps the tools necessary for assembling the next model or replaces the jig or hand and robot. Perform the connection with the arm of 106.

FIG. 6 shows how to attach and detach the hand and the arm of the robot. Mother hand 1 attached to the tip of robot arm 112
13 and a hand 114 that directly grasps the workpiece. The docking operation of two hands will be described. With the mother hand 113 attached to the tip of the arm 112 of the robot aligned with the axes of the hand 114 positioned on the switching jig pallet, the robot lowers the mother hand 113 to the hand 114. Attach the upper joint fitting 1160 of the hand 114 to the pilot hole of the lower joint fitting 115 of the mother hand 113.
Stop the descent at the position where 7 is completely seated. Next, when compressed air is supplied to the mother hand 113, the piston shaft 118 is actuated, the gripping claw 119 is closed, and the protruding pin 120 provided opposite the upper joint fitting 116 is inserted into the coupling hole in the gripping claw 119. I'm stuck in 121.

With the above operation, the hand is chucked and the tools and jigs are transferred from the switching jig pallet shown in Fig. 3, and the no longer needed knives, tools, and jigs are transferred to the switching jig pallet shown in Fig. 3. It is returned to the predetermined position by the robot itself.

After supplying the necessary hands, tools, and jigs to each robot and collecting unnecessary hands, tools, and jigs, the switching jig pallet shown in Fig. Lifter 107 and assembly conveyor 1
Return to the beginning of the assembly transport conveyor 105 via the return conveyor installed under 05, and return to the evacuation station 1.
One branch is automatically collected in 03.

Tools on the switching jig pallet 104 that were collected by people,
While replacing the jig and hand on the fence, the terminal device 102
Pressing the switch end button above notifies the controller of the end of the switch.

Effects of the Invention As described above, according to the present invention, the tools, hands, and
We can supply jigs and the minimum necessary tools,
This has the effect of allowing switching operations for the entire line using hands and jigs.

In addition, by installing a warehouse for fully automatic storage of tools, hands, and jigs, and a robot for automatic transfer between the switching jig pallet,
Completely unmanned robot line switching is possible.

[Brief explanation of the drawing]

Fig. 1 is a system configuration diagram showing a conventional robot line tool switching method, Fig. 2 is a system configuration diagram showing a robot line tool switching method of the present invention, and Fig. 3 is a system configuration diagram showing the tool switching method of a robot line according to the present invention. Fig. 4 is a perspective view of an assembly jig pallet to accommodate multiple models, Fig. 5 is a perspective view of a switching jig pallet for distributing to a variety of models, and Fig. 5 is a perspective view of a switching jig pallet positioned in FIG. 3 is an explanatory diagram showing a method for attaching and detaching a work hand and a mother hand fixed to the tip of an arm of a robot. 106... Conveyance device, 106... General purpose automatic assembly device, 104... Jig plate, 122...
...Tool, 123...Jig, 124...
・・・No1nd. Name of agent: Patent attorney Toshio Nakao and 1 other person10
1 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] Tools necessary for assembly work, jigs to support and position the workpieces, these tools, jigs, hands to grip the workpieces, tools, jigs, and hands to support, position, and supply to general-purpose automatic assembly machines. and a conveying device for conveying the jig plates to be collected and recovered along a predetermined path, and a plurality of general-purpose devices arranged along this conveying device and equipped with arms that can automatically attach and detach the above-mentioned hands. A tool changing device consisting of an automatic assembly device.