JP2008168965A - Positioning device and positioning method for supply parts - Google Patents

Abstract

Provided are a supply component positioning apparatus and a positioning method suitable for enabling automatic extraction in a process of extracting a workpiece suspended by a hanger.
SOLUTION: A pair of upper and lower V-shaped gauges 51A, 52A are approached from the outer side in the left-right direction to the left and right edges W2, W3 of a panel-like workpiece W suspended by engaging an engagement hole W1 with a hook 22. By engaging the workpiece posture correcting means 51 and 52 with the gauge devices 51 and 52 as workpiece posture correcting means for correcting the inclination of the workpiece surface and the rotation around the axis perpendicular to the workpiece surface, the posture is changed. And a gauge device 53 as an elevating means for raising the corrected workpiece W by a preset amount and detaching the hook 22 from the engagement hole W1 of the workpiece W.
[Selection] Figure 1

Description

  The present invention relates to a supply component positioning apparatus and a positioning method for unloading a workpiece from a hook of a conveying device that suspends and conveys a workpiece (supply component).

  Conventionally, when supplying workpieces (parts) to an assembly line or the like that produces a mixture of multiple models (models with different types of vehicles), the workpieces to be assembled are lined up and transferred according to the actual production sequence. And the positioning apparatus of the supply components in the case of unloading a workpiece | work in a carrying-out exit is proposed (refer patent document 1).

This is because hooks for hanging and holding the work are provided in each of the transport units transported by the crescent conveyor, and hook catchers for holding the hooks at predetermined positions are provided at the carry-in port and the carry-out port of the conveyor. When hanging on the hook and when unloading from the hook, the hook is prevented from shaking to prevent the workpiece from swinging.
JP-A-2005-187100

  However, when a metal rod is manufactured by bending or the like as a hook to be used, there is a variation in the shape of each hook, and there is a variation in the position of the workpiece at the transported exit. There is a problem that it is difficult to automatically grip a workpiece suspended by a robot hand or the like.

  Also, even if the suspended workpiece can be automatically gripped by a robot hand or the like, the workpiece hanging posture is improved by holding the hook with the hook catcher at the carry-out port as in the above conventional example, which improves the hook shape accuracy If the work is not carried out in combination with any means such as straightening, when the work is extracted from the hook and taken out, the work may be caught by the hook and the removal may not be completed.

  Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide a supply component positioning apparatus and a positioning method suitable for enabling automatic extraction in a process of extracting a work suspended by a hook. And

  According to the present invention, a pair of upper and lower V-shaped gauges are brought into engagement with the left and right edges of a panel-shaped workpiece suspended by engaging an engagement hole with a hook from the outside in the left-right direction, thereby engaging the workpiece surface. A workpiece posture correcting means for correcting inclination and rotation about an axis perpendicular to the workpiece surface, and a workpiece whose posture is corrected by the engagement of the workpiece posture correcting means is raised by a preset amount, and a workpiece engagement hole And elevating means for detaching the hook from the head.

  Therefore, according to the present invention, the pair of upper and lower V-shaped gauges are brought close to and engaged with the left and right edges of the suspended panel-like workpiece from the outside in the left-right direction, and the workpiece surface is tilted and the axis perpendicular to the workpiece surface is obtained. Since the rotation of the workpiece is corrected and then the workpiece is lifted by a preset amount to disengage the hook from the engagement hole of the workpiece, it can be hung on the hook and prevented from shaking against the workpiece, including shaking and shaking. In addition, because the center of gravity of the panel is offset from the center of the panel, it is possible to correct the posture of the workpiece that is tilted within the panel surface. It can be detached without being caught. Moreover, since the workpiece is positioned in a state of being detached from the hook, it can be automatically held by a robot hand or a loader, and the workpiece can be automatically taken out.

  Hereinafter, an embodiment of a positioning apparatus and positioning method for a supply component according to the present invention will be described with reference to FIGS. 1 to 9 show a first embodiment of a supply component positioning device to which the present invention is applied. FIG. 1 is a schematic view showing the whole of a component supply device including a supply component positioning device. FIG. 2 is an assembly station. 3 is a detailed view from the component receiving stocker including the positioning device for the supply component to the component transfer device, FIGS. 3 and 4 are a side view and an operation state diagram of the single feed device, and FIG. 5 is a perspective view showing a standby state to an operation state of the stopper. FIGS. 6 and 7 are a side view, a plan view and an operation state diagram of the hanger return mechanism, and FIGS. 8 and 9 are a side view and a plan view of the component positioning device.

  1 and 2, the component supply apparatus 1 is arranged on the line side of an assembly station or assembly line, and receives a stocker 3 that receives a component (also referred to as a panel-shaped workpiece) supplied from the component supply carriage 2 together with the hanger 20, A receiving device 4 that receives a component W (panel-shaped workpiece) accommodated in the receiving stocker 3 together with the hanger 20 through a single feeding device 10 that feeds the workpiece W according to the supply sequence, and a hanger that positions the component W received in the receiving device 4 And a transfer device 6 that grips the positioned component W and supplies it to the assembly station S or the assembly line. As the transfer device 6, a transfer robot is used in FIG. 1, and a loader is used in FIG.

  As shown in FIG. 1, the parts supply cart 2 arranges parts on a picking stage (parts loading station) (not shown) according to the assembly order of the vehicle, the vehicle body, etc., and supplies the parts W in an aligned state from the input stocker. The parts are received and placed from the input port 31 toward the supply port 32, are transported to the line side, and the parts in an aligned state are supplied from the supply port to the input port 33 of the receiving stocker 3. A supply rail 41 is arranged from the input port 31 toward the supply port 32 in order to receive the component W in an aligned state and supply the component W in an aligned state. The parts W aligned in order are suspended from the required number of hangers 20 movable along the rails 41, received from the input stocker, transported in that state, and supplied to the line side receiving stocker 3. It is configured as follows.

  The supply rail 41 is disposed so as to be inclined downward from the input port 31 toward the supply port 32 so that the hanger 20 suspending the input component W advances toward the supply port by its own weight. The parts transporting carriage 2 is provided with a return rail 45 for receiving the hanger 20 from which the parts W have been removed from the line side receiving stocker 3 from the supply port 32. The return rail 45 is also provided with a hanger. It is arranged so as to be inclined downward toward the charging port 31 so that 20 returns to the loading port 31 by its own weight. A stopper (not shown) is arranged on the tip side inclined downward of the supply rail 41 and the return rail 45.

  As shown in detail in FIG. 2, the receiving stocker 3 receives the component W from the component supplying cart 2 in the aligned state, and places the component W in the downstream receiving device 4 in the aligned state, similarly to the component supplying cart 2. In order to supply, the supply rail 42 is arranged from the input port 33 toward the supply port 34, and the component W suspends the component W arranged in order on the necessary number of hangers 20 movable along the supply rail 41. In this state, the component W is received from the component supply cart 2, and the component W is stocked in this state and supplied to the receiving device 4.

  The supply rail 42 is disposed so as to be inclined downward from the input port 33 toward the supply port 34 so that the hanger 20 suspending the input component W advances toward the supply port 34 by its own weight. Further, the receiving stocker 3 is provided with a return rail 44 for receiving the hanger 20 from which the part W has been removed from the line side receiving device 4 from the supply port 34, and this return rail 44 is also provided with the hanger 20. Is arranged so as to incline downward toward the insertion port 33 so as to return to the insertion port 33 by its own weight. A single feed device 10 for supplying the component W together with the hanger 20 to the receiving device 4 is arranged on the tip side inclined downward of the supply rail 42. Further, a stopper (not shown) is disposed on the tip side inclined downward of the return rail 44.

  As shown in FIG. 3, the single-feed device 10 protrudes in the movement trajectory of the hanger 20 that moves downward on the supply rail 42, for example, the propeller 11 made of a cross-shaped arm is rotatable. The propeller 11 is configured to be rotated by the rotary actuator 12 (see FIG. 4A). As shown in FIG. 4 (A), the arm of the propeller 11 is brought into contact with the hanger 20 that advances by its own weight toward the tip of the rail 42 and stops, including the subsequent hanger 20, and is received from the downstream receiving device 4. 4B and 4C, the propeller 11 is rotated by 90 degrees by the rotary actuator 12 so that the leading one of the hangers 20 blocked from moving by the arm can be obtained. , It is allowed to move to the tip side of the rail 42 and advance to the tip side of the rail 42. As shown in FIG. 4C, the subsequent hanger 20 is stopped by the next arm protruding on the movement trajectory of the hanger 20 as the propeller 11 rotates by 90 degrees. In response to a loading request from the receiving device 4, the single-feed device 10 rotates the propeller 11 by 90 degrees each time and sequentially advances the hangers 20 one by one.

  As shown in FIG. 3, the hanger 20 includes a roller 21 that can move by rolling on a rail 42, and a hook 22 that is suspended from the roller 21. The hook 22 includes a support rod 22A that extends downward, a hook portion 22B that is obliquely fixed to the lower end of the support rod 22A toward the front in the transport direction, and a bridge 22C that connects a midway portion of the hook portion 22B to the support rod 22A. It is composed of The component W is suspended and held by fitting an engagement hole provided in the member itself or a member holding the component W closer to the distal end side than a connection portion between the hook portion 22B and the bridge 22C. In the plate-like component W, the engagement hole provided in the plate is held at the connecting portion between the hook portion 22B and the bridge 22C. Further, the hook 22 is integrally provided with a protruding piece 23 for maintaining the interval between the hangers 20, and the hangers 20 stopped by the one-feed device 10 are maintained at a predetermined interval and are suspended from each other. The parts W are not in contact with each other.

  As shown in FIG. 2, the receiving device 4 includes a loop rail 43 that connects the outlet side of the supply rail 42 of the receiving stocker 3 and the inlet side of the return rail 44, and a midway adjacent to the inlet side of the loop rail 43. The stopper 13 which stops the hanger 20 provided in the section, and the feeding device 16 which sends the hanger 20 from which the parts W are removed to the outlet side of the loop rail 43 are provided. The loop rail 43 is disposed between the outlet side of the supply rail 42 of the receiving stocker 3 and the inlet side of the return rail 44 in an inclined state in which the front of the hanger 20 in the traveling direction is downward.

  As shown in FIG. 5, the stopper 13 is configured such that the projecting piece 15 can be projected and retracted on the movement locus of the hanger 20 (the space below the rail 43) by the actuator 14. FIG. 5A shows a state in which the protruding piece 15 is retracted to the standby position, and the protrusion is projected by the actuator 14 as shown in FIG. The piece 15 is projected on the movement trajectory of the hanger 20. As shown in FIG. 5C, the hanger 20 that is released from the single-feeding device 10 and advances is transferred from the supply rail 42 of the receiving stocker 3 to the loop rail 43 of the receiving device 4. Stop and hit. In this stop state, the part W hung on the hook 22 of the hanger 20 is pulled out from the hook 22 while being positioned by the positioning device 5 described later. The hanger 20 from which the part W has been pulled out can move forward on the loop rail 43 by the retraction of the protruding piece 15 of the stopper 13 to the standby position.

  As shown in FIG. 6, the delivery device 16 includes a rotary actuator 17 and a delivery blade 18 that is rotated by the rotary actuator 17. As shown in FIGS. 7A to 7B, the delivery blade 18 is engaged with the hanger 20 by rotating the blade 18 in the lower space along the loop rail 43. It is sent along the loop rail 43 while being combined, and operates to send the hanger to the return rail 44 of the receiving stocker 3.

  Therefore, the hanger 20 from which the workpiece W is removed and the stop state by the stopper 13 is released, the rotary actuator 17 of the feeding device 16 is operated and the blade 18 is rotated, and the hanger 20 is moved downstream of the loop rail 43. To the side. The sent hanger 20 is transferred from the loop rail 43 to the return rail 44 of the receiving stocker 3, and is stopped by coming into contact with a stopper provided at the tip of the return rail 44 or a preceding hanger.

  As shown in FIGS. 8 and 9, the positioning device 5 includes a plurality of gauge devices 51, 52 that correct the front and rear, left and right positions and inclinations of the component W suspended on the hanger 20 and the rotational position in the horizontal plane, and these And a gauge device 53 that lifts the component W positioned by the gauge devices 51 and 52. The part W shown in the figure is a parcel and rear waist that is connected to the upper side of a room rear panel toward the rear in the horizontal direction as a vehicle body panel of an automobile, and is either one that becomes the side of the vehicle body when assembled as a vehicle body. The engagement hole W1 provided in the hanger 20 is hooked on the hook 22 of the hanger 20 and suspended and supplied.

  In such a panel-shaped component W, there are two left and right edges W2 and W3 that extend in the vertical direction when suspended (in the vehicle body assembled state, they are the edges in the longitudinal direction of the vehicle body). One gauge device 51 provided with a bifurcated (V-shaped) gauge 51A that is positioned close to one edge W2 and the other edge W3 that is positioned close to the other edge W3. The position, inclination, and rotational position in the horizontal plane of the panel W in the front-rear and left-right directions can be respectively determined by the two gauge devices including the other gauge device 52 having the upper and lower gauges 52A. .

  The bifurcated gauges 51A and 52A are spread out from each other on the front end side in order to position the edges W2 and W3 of the panel W. When the work W approaches the work W from the left and right directions, the work W rotates in a horizontal plane and is displaced. In this case, the target edge is configured to be accommodated in the gauges 51A and 52A, even when tilted by shaking or shaking with respect to the vertical plane. In order to increase the positional accuracy of the respective edges W2 and W3 by further bringing the gauges 51A and 52A closer to the part W while the edges W2 and W3 of the part W are accommodated in the gauges 51A and 52A, the gauges The back sides of 51A and 52A are formed with a narrower width, and the positioning of the component W is completed when the edges W2 and W3 finally contact the bottoms of the gauges 51A and 52A. At the bottom of each gauge 51A, 52A, a roller 52D that rolls and contacts when the workpiece W moves in the vertical direction is disposed, and the workpiece W is allowed to move in the vertical direction within the gauges 51A, 52A. .

  As shown in FIG. 8, the gauges 51 </ b> A and 52 </ b> A approach the edges W <b> 2 and W <b> 3 of the component W as shown in FIG. 8. As an example, the slide type approach method of FIG. 5 and the swing type approach method on the left side in the figure in which the swing arm 51C holding the gauge 51A around the axis is swung closer by an actuator (not shown) can be considered. If there is sufficient space in the lateral direction, the sliding approach may be used, and if the sufficient space cannot be secured in the lateral direction, the latter swing approach is advantageous. Further, either one of the left and right gauges 51A and 52A corresponds to the difference in the width dimension of the workpiece W by different vehicle types, and the gauge 51A is interposed via an elastic member such as a spring (not shown) to absorb the difference in dimension. , 52A is desirable.

  The gauge device 53 is provided with a pair of gauges 53A that engage with the lower edge W4 of the positioned component W held on the arm 53B, and positions and holds the component W from the lower side. Similarly to the gauges 51A and 52A, the gauge 53A is formed in a V shape that expands on the tip side and narrows on the back side, and positions and holds the component W from below. The gauge 53A is pushed up by the built-in slide device 53B, and the workpiece W held by the left and right gauges 51A and 52A is pushed up by a preset distance.

  FIGS. 10-13 shows the operating state with respect to the workpiece | work W of each gauge apparatus 51-53. That is, FIG. 10 shows the relationship between the workpiece W suspended on the hanger 20 stopped by the stopper 13 and the positioning device 5. In the drawing, the left and right gauges 51A and 52A are each retracted to the standby position by swing and slide, and the gauge 53A is also retracted to the lowered position. The gauge 52A that slides in the horizontal direction by the slide actuator 52B is supported by the arm 52C via a slide shaft 52E, and is attached with a spring 52F as an elastic member interposed therebetween.

  From the above state, as shown in FIG. 11, first, the gauge 51A held on the swing arm 51C is swung by the actuator 51B to bring the gauge 51A closer to one edge W2 of the work W, and one edge W2 of the work W Positioning. Since this gauge 51A has a long stroke to bring the gauge 51A closer to the workpiece W, even if the workpiece W is swaying (within the panel-like surface suspended from the hook 22), the swaying is stopped, By engaging with one edge W2, the position of the edge W2 can be roughly adjusted. Further, the gauge 51A moves the work guide 51A closer to the work W with a long stroke even when the work posture (inclination, etc.) with respect to the hanger 20 is different due to the shape difference of the work W for each car type. Each of the plurality of workpieces W having various postures can be engaged with one edge W2. By positioning one edge of the workpiece W by the gauge 51A in a state of being hung on the hook 22 of the hanger 20, the inclination and falling of the workpiece surface are corrected. The rotation of the workpiece W around the support rod of the hook 22 and the rotation around the axis perpendicular to the workpiece surface can be slightly corrected depending on the position of engagement with the hook 22 being suspended, but cannot be completely corrected.

  Next, as shown in FIG. 12, the arm 52C holding the slide type gauge 52A is slid by the actuator 52B to bring the gauge 52A closer to the other edge W3 of the work W, and to the other edge W3 of the work W. The workpiece W is positioned together. By positioning the left and right edges of the work W with the gauges 51A and 52A, respectively, the inclination of the work surface and the rotation of the hook 22 around the support rod 22A are corrected. Since the edge W3 is a straight edge, the rotation around the axis perpendicular to the workpiece surface can be corrected by bringing the edges into contact with both the upper and lower pair of gauges 52A. A roller 52D provided at the bottom of the gauge 52A makes it easier to rotate around an axis perpendicular to the surface of the workpiece W. The spring 52F is contracted between the gauge 52A and the arm 52C so as to absorb the dimensional difference corresponding to the difference in the width dimension of the workpiece W due to different vehicle types. The workpiece W is positioned in an upright and accurate posture by positioning the left and right edges W2 and W3 with the gauges 51A and 52A, respectively.

  Next, as shown in FIG. 13, the gauge device 53 raises the lower gauge 53 </ b> A together with the arm 53 </ b> C, and the gauge 53 </ b> A is engaged with the workpiece W. As the gauge 53A further rises, the workpiece W suspended by hooking the engagement hole W1 on the hook 22 of the hanger 20 is placed on the rollers 52D provided on the bottoms of the gauges 51A and 52A of the left and right gauge devices 51 and 52. It is lifted by a predetermined distance while being supported.

  The workpiece W is lifted from the state shown in FIG. 14A, and the engagement hole W <b> 1 hooked on the hook 22 is also lifted, and relative to the hanger 20 whose rise is restricted by the rail 43. Will rise. As shown in FIG. 14 (B), the engagement hole W1 of the workpiece W is lifted so that the lower edge of the engagement hole W1 and the hook portion 22B inclined by the hook 22 are brought into contact with each other. Further, as shown in FIG. 14C, the further raising of the engagement hole W1 causes the hook portion 22B inclined by the hook 22 to be detached from the engagement hole W1 while being moved backward in the transport direction. As a result, the workpiece W and the hanger 20 are separated.

  The generally used hook shape is formed by simply bending the tip of the support bar 22A as shown in FIG. The workpiece W is supported by the lowermost curved portion of the bent portion of the hook F by the engagement hole W1. In such a hook F, there is no problem with the function of suspending the workpiece W. However, if the workpiece W is simply lifted when the workpiece W is pulled out from the hook F, the lower edge of the engagement hole W1 is the lowermost curved portion of the hook F as shown in FIG. To the support rod 22A side portion. When such engagement occurs, when the workpiece W is further lifted, the hook 22A enters the engagement hole W1 of the workpiece W, and the engagement hole W1 further engages with the support rod 22A of the hook F. The work W cannot be detached from the hook F. Therefore, in such a hook F, it is necessary to move the workpiece W forward while moving the workpiece W, and it is necessary to remove the hook while confirming the engagement state between the hook F and the engagement hole W1. Requires operation.

  The hook 22 is not limited to the shape described above. For example, as shown in FIG. 16, a hook 22B obliquely arranged at the tip of the support bar 22A may be joined to the middle of the hook 22A. Good. In this case, the workpiece W can be engaged with the middle portion of the hook portion 22B by joining the support rod 22A in the middle portion of the hook portion 22B. It is possible to prevent the occurrence of defects.

  In the example shown in FIG. 1, a multi-axis transfer robot is used as the transfer device 6, and a workpiece W detached from the hanger 20 as shown in FIG. 13 by a gripping clamp 62 provided on the robot hand 61. Grip a preset edge portion. The workpiece W can be gripped by the robot hand 61 because the workpiece W is accurately positioned by the gauges 51 to 53, respectively. When the workpiece gripping by the robot hand 61 is completed, the respective gauges 51 to 53 are moved back to the standby positions by the actuators 51B to 53B. Since the workpiece W is gripped by the robot hand 61 and does not move and is also detached from the hook 22, it can be transported to an arbitrary position by the robot 6. For example, the robot 6 can convey and position the workpiece W to a predetermined position in an assembly station or assembly line for the purpose.

  In the transfer device 6 shown in FIG. 2, a loader is used, and the hand 64 is slid, rotated, and swung by a plurality of preset axes (XY axis, rotation axis), and the same as described above. Thus, the workpiece W can be gripped, and the workpiece W which has become free after the restraints in the gauges 51 to 53 are released can be moved to a predetermined position.

  The work described above is repeated, and the workpieces W suspended on the hanger 20 are sequentially put into the assembly station or the assembly line.

  In the present embodiment, the following effects can be achieved.

  (A) A pair of upper and lower V-shaped gauges 51A and 52A are approached from the outside in the left and right direction to the left and right edges W2 and W3 of the panel-like workpiece W suspended by engaging the engagement holes W1 with the hooks 22. The posture is corrected by the engagement of the gauge devices 51 and 52 as the workpiece posture correcting means for correcting the inclination of the workpiece surface and the rotation around the axis perpendicular to the workpiece surface by engaging the gauge devices 51 and 52. And a gauge device 53 as an elevating unit that raises the workpiece W by a predetermined amount and removes the hook 22 from the engagement hole W1 of the workpiece W. Therefore, the workpiece W suspended by the hook 22 can be prevented from shaking, and the posture of the workpiece W tilted in the panel plane is corrected by offsetting the center of gravity of the panel from the center of the panel. The workpiece W can be lifted in the positioned state and can be detached without being caught by the hook 22 in a state where the workpiece posture is corrected. Moreover, since the workpiece W is positioned in a state of being detached from the hook 22, it can be automatically held by the robot hand 6 or the loader, and the workpiece W can be automatically taken out.

  (A) A pair of upper and lower V-shaped gauges 52A on at least one of the left and right sides of the workpiece posture correcting means 51, 52 includes a roller 52D that is in rolling contact with the edge W3 of the workpiece W at the bottom of the V-shaped gauge 52A. Thus, the engagement position can be easily shifted while the workpiece W is engaged with the V-shaped gauge 52A, and the (reference) edge of the panel-shaped workpiece W is copied with respect to the V-shaped gauge 52A. Accordingly, the posture (rotational posture within the workpiece surface) can be changed to make the workpiece W the reference posture. Even when the workpiece W is engaged with the V-shaped gauge 52 </ b> A, the lifting / lowering means 53 can easily raise the workpiece W.

  (C) At least one pair of upper and lower V-shaped gauges 52A on the left and right sides of the workpiece posture correcting means 51 and 52 is connected to the edge of the workpiece W from the standby position outside in the horizontal direction by the actuator 52B via a spring 52F as an elastic member. By being operated to the operation position that engages with W3, it is possible to absorb the dimensional difference corresponding to the difference in the width dimension of the workpiece W by different vehicle types.

  (D) At least one pair of upper and lower V-shaped gauges 51A on the left and right sides of the workpiece posture correcting means 51 and 52 is formed to have a V-shaped gauge width larger than the other, and more than the other pair of upper and lower V-shaped gauges 52A. The workpiece W is roughly positioned by engaging with the edge W2 of the workpiece W suspended in advance, and the final of the workpiece W is obtained by engaging the other pair of upper and lower V-shaped gauges 52A with the workpiece edge W3. Even if the workpiece W is hung on the hook 22 and causes rotation or runout in a horizontal plane, the rough positioning can be performed with the wide V-shaped gauge 51A. High-precision positioning and stepwise positioning can be efficiently executed by engagement with the character gauge 52A.

  (E) One preceding pair of upper and lower V-shaped gauges 51A is supported by the swing arm 51C and configured to approach the edge W2 of the workpiece W from the outside in the left-right direction of the workpiece W, and the other pair of upper and lower V-shaped gauges. Since the shaped gauge 52B is configured to approach the edge W3 of the workpiece W from the outside in the left-right direction of the workpiece W by sliding movement, it is suspended from the hook 22 in order to approach the edge of the workpiece W with a long stroke. The workpiece W which is swinging in the panel-like plane can be easily prevented from shaking while being restrained by engagement.

  (F) The positioning device 5 is arranged on the line side of the assembly station or assembly line, and is supplied from the parts supply carriage 2 by being suspended on the hanger 20 that moves on the supply rail 42 of the receiving stocker 3 and aligned in advance according to the assembly sequence. The panel-like workpiece W to be transferred to the assembly station or the assembly line is installed in a process of pulling out from the hook 22 of the hanger 20, so that even if it is a large panel-like workpiece W, the robot hand 60 The workpiece W can be automatically picked up by a loader or a loader and automatically taken out and transferred to a target transfer position of a target assembly station or assembly line.

  (G) The hook 22 is provided with a hooking portion 22B that extends obliquely upward and is disposed at the lower end of the support rod 22A connected to the shaft of the roller 21 that rolls on the supply rail 42. Since the joint hole W1 is engaged with the obliquely inclined portion of the hook portion 22B, the lower edge of the engagement hole W1 of the workpiece W is lifted by lifting the workpiece W by the lifting device 53. Since the hook 22 contacts the lower surface of the hook portion 22B of the hook 22 and pushes the hook 22 out of the engagement hole W1, the workpiece W can be pulled out without being hooked on the hook 22.

  (H) The hook portion 22B is formed by bending the lower end of the support rod 22A, and connects the lower end of the region inclined obliquely upward and the support rod 22A with a member inclined to the opposite side of the hook portion 22B. By providing the bridge 22 </ b> C to perform, the above effect (I) can be exhibited even with a general fishhook-like hook 22.

  The present invention describes a panel-like work that is supplied by being suspended from a hook to an assembly station or assembly line. However, the present invention can be used for detaching a general panel-like work that is suspended from a hook and conveyed. it can.

BRIEF DESCRIPTION OF THE DRAWINGS Schematic which shows the whole component supply apparatus containing the positioning device of the supply component which shows one Embodiment of this invention. FIG. 5 is a detailed view from a component receiving stocker to a component transfer device including a supply component positioning device in the assembly station. The side view of the single feeding apparatus of components. The operation state figure of the single feed device of components. The perspective view which shows the standby state (A)-action | operation state (B), (C) of a stopper. The side view and top view of a hanger return mechanism. The operation state figure which shows the operation state (A) and (B) of a hanger return mechanism. The side view of a component positioning device. The top view of a component positioning device. Explanatory drawing which shows the state by which the panel-shaped workpiece was conveyed to the component positioning device. Explanatory drawing which shows the positioning state to the panel-shaped workpiece | work of a component positioning device. Explanatory drawing which shows the positioning state to the panel-shaped workpiece | work of the component positioning device following FIG. Explanatory drawing which shows the positioning state to the panel-shaped workpiece | work of the component positioning device following FIG. Operation | movement explanatory drawing which shows a hook shape (A) and its detachment | leave state (B), (C). Operation explanatory drawing which shows the hook shape (A) of a comparative example, and its detachment | leave state (B), (C). The side view which shows another Example of a hook shape.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Parts supply apparatus 2 Parts conveyance cart 3 Reception stocker 4 Reception apparatus 5 Positioning apparatus 6 Transfer apparatus 10 Single feed apparatus 13 Stopper 16 Delivery apparatus 20 Hanger 22 Hook 22B Hook part 51-53 Gauge apparatus 51A-53A Gauge

Claims (11)

Inclination of the workpiece surface and the workpiece surface by engaging a pair of upper and lower V-shaped gauges from the outside in the left-right direction on the left and right edges of the panel-like workpiece suspended by engaging the engagement holes with the hooks Workpiece posture correction means for correcting rotation around an axis perpendicular to
Positioning of supply parts, comprising elevating means for elevating a work whose posture is corrected by engagement of the work posture correcting means by a preset amount and releasing the hook from the engagement hole of the work apparatus.   2. The pair of upper and lower V-shaped gauges on at least one of the left and right sides of the workpiece posture correcting unit includes a roller that is in rolling contact with the edge of the workpiece at the bottom of the V-shaped gauge. Positioning device for supply parts.   The pair of upper and lower V-shaped gauges on the left and right sides of the workpiece posture correcting means are actuated by an actuator from an outer standby position in the left-right direction to an operating position that engages with the edge of the workpiece via an elastic member. 3. The supply component positioning device according to claim 1, wherein the supply component positioning device is a positioning device.   At least one pair of upper and lower V-shaped gauges on the left and right sides of the workpiece posture correcting means has a V-shaped gauge width larger than the other, and is suspended before the other pair of upper and lower V-shaped gauges. The workpiece is roughly positioned by engaging with the edge of the workpiece, and the workpiece is finally positioned by engaging the other pair of upper and lower V-shaped gauges with the workpiece edge. The positioning device for a supply component according to any one of claims 3 to 4.   The preceding pair of upper and lower V-shaped gauges are supported by a swing arm so as to approach the edge of the work from the outside in the left-right direction of the work, and the other pair of upper and lower V-shaped gauges slide. The supply part positioning device according to claim 4, wherein the supply part positioning device is configured to approach the edge of the work from outside in the left-right direction of the work.   The positioning device is arranged on the line side of the assembly station or the assembly line, and the panel-like workpiece which is suspended from a hanger that moves on the supply rail of the receiving stocker from the component supply carriage and is aligned and supplied in advance according to the assembly sequence is supplied to the assembly station. Alternatively, the supply component positioning device according to any one of claims 1 to 5, wherein the supply component positioning device is installed in a process of pulling out from a hook of a hanger for transfer to an assembly line.   The hook includes a hook portion extending obliquely upward and disposed at a lower end of a support rod connected to a shaft of a roller that rolls on the supply rail, and the engagement hole of the panel-like work is a diagonal portion of the hook portion. 7. The supply component positioning device according to claim 1, wherein the supply component positioning device is engaged with a portion inclined at a predetermined angle.   The hook portion is formed by bending the lower end of the support rod, and includes a bridge that connects the lower end of the region inclined obliquely upward and the support rod with a member inclined to the opposite side of the hook portion. 8. The positioning device for a supply component according to claim 7, wherein the positioning device is a positioning device.   The preset amount is characterized in that it is set by adding the amount of workpiece lifting until at least the inclined hooking portion provided on the hook contacts the lower edge of the engagement hole of the workpiece. The supply component positioning device according to any one of claims 1 to 8. A method for positioning a supply component for pulling out a panel-like workpiece suspended by engaging an engagement hole with a hook,
By making a pair of upper and lower V-shaped gauges approach and engage with the left and right edges of the suspended panel-like workpiece from the outside in the left-right direction, the inclination of the workpiece surface and the rotation around the axis perpendicular to the workpiece surface are corrected. Work posture correction process,
Elevating and lowering the work in a state in which the posture is corrected by the engagement of the V-shaped gauge in the workpiece posture correcting step by a predetermined amount and releasing the hook from the engagement hole of the workpiece. A method for positioning a supply component. At least one of the pair of upper and lower V-shaped gauges on the left and right sides of the workpiece posture correcting process has a V-shaped gauge width larger than the other and is suspended before the other pair of upper and lower V-shaped gauges. Engage with the edge of the workpiece that is positioned, and roughly position the workpiece,
11. The method of positioning a supply component according to claim 10, wherein the workpiece is finally positioned by engagement of the other pair of upper and lower V-shaped gauges with the workpiece edge.

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