JP3941034B2

JP3941034B2 - Parts storage extraction device

Info

Publication number: JP3941034B2
Application number: JP2000346697A
Authority: JP
Inventors: 弘樹田平; 政雄新田; 良晴渡部; 計利高田
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2000-11-14
Filing date: 2000-11-14
Publication date: 2007-07-04
Anticipated expiration: 2020-11-14
Also published as: JP2002144161A

Description

【０００１】
【発明の属する技術分野】
本発明は、無段変速機（ＣＶＴ）用のベルト等、複数の部品からなる製品を組み立てる際に、前記部品を所定の位置に収納し、或いは所定の位置に収納されている部品を抽出する部品収納抽出装置に関するものである。
【０００２】
【従来の技術】
例えば自動車等の変速装置として用いられる無段変速機（ＣＶＴ）用のベルトは、複数の無端帯状の金属リングをそれらの厚み方向に積層して組み立てた積層リングにより構成されている。この種の積層リングは、基本的にはその周長値や半径が設計値（これは各層毎に互いに相違する）になるように製造されている各層の金属リングを１個づつ選択して、それらを組み合わせて積層する。そして、この作業を積層リングの必要個数の回数だけ繰り返す。
【０００３】
ところが、前記積層リングの各層を構成する金属リングは、前述のように基本的にはその周長値や半径が設計値になるように製造されるものの、常に高精度に設計値に一致するわけではなく、一般には製造上の誤差のために設計値を中心にある程度のばらつきを生じる。このため、前記各層の金属リングを組み合わせて積層する場合、各層の金属リングを任意に（無作為に）１個づつ選択して組み合わせても、所望の積層リングを得ることができるとは限らない。
【０００４】
そこで、前記積層リングを組み立てる場合、各層の金属リングはその製造後、各金属リングの周長値等のサイズデータが別途測定され、個々の金属リングはその測定データと対応づけて部品収納棚等に保管される。そして、各層の金属リングを選択して組み合わせるためにあらかじめ定められた組合せ条件に従って、前記部品収納棚等から各層の金属リングを１個づつ選択して抽出する。
【０００５】
前記部品収納棚に部品を収納し、また収納されている部品を抽出する部品収納抽出装置として、例えば、特開平６−３２１３２０号公報に記載のものが知られている。前記公報記載の部品収納抽出装置は、外枠の内部を多段多列に区画して画成され一方の面に開口する部品収納部を備える収納棚と、該収納棚の該部品収納部が開口している面に沿って移動する部品搬送手段とを備える。そして、前記部品搬送手段は、前記部品収納部が開口している面に沿って水平方向及び垂直方向に移動自在の部品把持部材を備え、該部品把持部材により金属リング等の部品を把持して前記部品収納部に収納することができ、また該部品収納部に収納されている部品を抽出することができる。
【０００６】
ところが、前記部品収納抽出装置では、前記部品搬送手段により、部品の収納と抽出との両方の作動を行うため、部品の収納、抽出に時間がかかる。そこで、前記部品収納抽出装置で、部品の収納と抽出とを迅速に行うために、前記部品搬送手段を２つ設け、一方に部品の収納を分担させ、他方に部品の抽出を分担させることが考えられる。
【０００７】
しかしながら、前記２つの部品搬送手段を前記部品収納部が開口している面に沿って設けると、同一の面に沿って２つの部品搬送手段が移動することになり、相互に干渉しないように移動させるためには複雑な制御を要するとの不都合がある。
【０００８】
【発明が解決しようとする課題】
本発明は、かかる不都合を解消して、制御が容易で、部品の収納と抽出とを迅速に行うことができる部品収納抽出装置を提供することを目的とする。
【０００９】
【課題を解決するための手段】
本発明の部品収納抽出装置は、外枠の内部を多段多列に区画して画成され前後両端面が開放された部品収納部を備える収納棚と、部品を把持し、該収納棚の一方の面に沿って移動自在とされる第１の部品把持手段を備え、該第１の部品把持手段により把持される部品を所定の部品収納部に搬送して収納する部品収納搬送手段と、部品を把持し、該収納棚の他方の面に沿って移動自在とされる第２の部品把持手段を備え、前記所定の部品収納部に収納された部品を該第２の部品把持手段により把持して抽出し、所定の位置に搬送する部品抽出搬送手段とを備え、前記部品は弾性を有するリングであり、前記部品収納部は、所定の間隔を存して対向配置された複数の保持部材を備え、対向する各対の保持部材は両者の間に前記リングを撓めた状態で保持し、前記第１、第２の部品把持手段は、所定の間隔を存して対向配置される一対の爪部材と、該爪部材を前記部品収納部に対して進退せしめる進退手段と、各爪部材の長さ方向に沿って且つ互いに対向して配置された複数対の挟持部材と、対向する各対の挟持部材の間隔を拡大・縮小する拡縮手段とを備え、前記進退手段により前記爪部材が前記部品収納部に進入せしめられたときに、前記保持部材は前記各爪部材の長さ方向に沿って前記挟持部材の間に位置するように配置され、前記部品抽出搬送手段は、前記保持部材の間隔より拡大された状態となって前記部品収納部に進入した各対の挟持部材の間隔を前記保持部材の間隔より縮小して、前記部品収納部に保持されている前記リングを外周側から該挟持部材で挟持し、前記部品収納搬送手段は、前記保持部材の間隔より縮小された状態となって前記リングを外周側から挟持して前記部品収納部に進入した各対の挟持部材の間隔を該保持部材の間隔より拡大して該リングの挟持を解除し、該リングを前記部品収納部に保持せしめることを特徴とする。
【００１０】
本発明の部品収納抽出装置によれば、前後両端面が開放された部品収納部が多段多列に備えられて収納棚を形成しており、該収納棚の一方の面に沿って部品収納搬送手段が備えられると共に、他方の面に沿って部品抽出搬送手段が備えられているので、部品収納搬送手段と部品抽出搬送手段とが相互に干渉することを顧慮する必要が無く、両搬送手段の制御を容易に行うことができる。また、本発明の部品収納抽出装置によれば、前記部品収納部は前後両端面が開放されているので、前記両搬送手段により、前記収納棚の一方の面では部品の収納を行い、同時に他方の面では部品の抽出を行うことができるので、部品の収納と抽出とを迅速に行うことができる。
【００１１】
本発明の部品収納抽出装置において、前記第１の部品把持手段は前記収納棚の一方の面に沿って水平方向及び垂直方向に移動自在とされ、前記部品収納搬送手段は第１の部品把持手段により把持される部品を第１の部品把持手段の水平方向及び垂直方向の移動距離により定まる部品収納部に搬送して収納し、前記第２の部品把持手段は前記収納棚の他方の面に沿って水平方向及び垂直方向に移動自在とされ、前記部品抽出搬送手段は第２の部品把持手段の水平方向及び垂直方向の移動距離により定まる部品収納部から該部品収納部に収納された部品を第２の部品把持手段により把持して抽出し、所定の位置に搬送するときに、該部品を収納する部品収納部の位置情報を該部品収納搬送手段に付与し、該部品収納搬送手段により収納される部品に係る情報と該部品が収納された部品収納部の位置情報とを対応づけて記憶し、抽出する部品に係る情報に対応づけられている部品収納部の位置情報を該部品抽出搬送手段に付与して、該部品収納搬送手段及び部品抽出搬送手段の作動を制御する制御手段を備えることが好ましい。
【００１２】
前記制御手段を備える部品収納抽出装置では、前記部品収納搬送手段及び部品抽出搬送手段が、いずれも該収納棚に沿って水平方向及び垂直方向に移動自在とされている部品把持手段を備え、前記制御手段により制御されて部品を搬送する。
【００１３】
かかる部品収納抽出装置によれば、まず、前記部品収納部に部品を収納するときには、前記制御手段が前記部品収納搬送手段に該部品を収納する部品収納部の位置情報を付与する。すると、前記部品収納搬送手段は、前記第１の部品把持手段の水平方向及び垂直方向の移動距離により定まる部品収納部が前記制御手段により付与される位置情報に一致するように、前記第１の部品把持手段を水平方向及び垂直方向に移動させる。そして、前記第１の部品把持手段により把持される部品を前記位置情報に一致する部品収納部に搬送して収納する。
【００１４】
このとき、前記制御手段は、前記部品収納搬送手段により収納される部品に係る情報と、該部品が収納された部品収納部の位置情報とを相互に対応づけて記憶する。
【００１５】
次に、前記部品収納部に収納されている部品を抽出するときには、前記制御手段は、該部品に係る情報に対応づけられている前記部品収納部の位置情報を前記部品抽出搬送手段に付与する。すると、前記部品抽出搬送手段は、前記第２の部品把持手段の水平方向及び垂直方向の移動距離により定まる部品収納部が前記制御手段により付与される位置情報に一致するように、前記第２の部品把持手段を水平方向及び垂直方向に移動させる。そして、前記位置情報に一致する部品収納部に収納されている部品を前記第２の部品把持手段により把持して抽出し、次工程への払い出し位置等の所定の位置に搬送する。
【００１６】
従って、前記部品収納部の位置情報を前記各部品把持手段の水平方向及び垂直方向の移動距離に置き換えることにより、前記部品収納搬送手段及び部品抽出搬送手段の作動を容易に制御することができる。
【００１７】
また、本発明の部品収納抽出装置においては、前記部品は弾性を有するリングであり、前記部品収納部に所定の間隔を存して対向配置された複数対の保持部材に撓められた状態で保持されるときに、前記部品把持手段は前記部品収納部に対して進退自在に備えられ、間隔を存して対向配置された複数対の挟持部材と、該部品収納部に進入した該挟持部材の間隔を該保持部材の間隔より縮小して該リングを外周側から挟持し、該挟持部材の間隔を該保持部材の間隔より拡大して該リングの挟持を解除する拡縮手段とを備える。
【００１８】
前記部品把持手段は、前記部品としての弾性を備えるリングが前記保持部材により撓められた状態で保持されているときには、前記拡縮手段により前記挟持部材の間隔が前記保持部材の間隔より拡大された状態で前記部品収納部に進入し、次いで前記拡縮手段により前記挟持部材の間隔を前記保持部材の間隔より縮小することにより、前記保持部材により保持されている前記リングをその外周側から把持することができる。
【００１９】
また、前記部品把持手段は、前記拡縮手段により前記挟持部材の間隔を前記保持部材の間隔より縮小し、前記リングをその外周側から把持した状態で前記部品収納部に進入し、次いで前記拡縮手段により前記挟持部材の間隔を前記保持部材の間隔より拡大することにより、前記リングの挟持を解除して、前記リングを前記保持部材に保持せしめることができる。
【００２０】
従って、前記部品把持手段によれば、前記柱状部材と前記部品収納部との間で進退すると共に、前記挟持部材の間隔を拡縮するだけで、前記リングを挟持し、あるいは挟持を解除することができるので、前記部品としてのリングの収納、抽出を容易に行うことができる。
【００２１】
【発明の実施の形態】
次に、添付の図面を参照しながら本発明の実施の形態についてさらに詳しく説明する。図１は本実施形態の部品収納抽出装置の構成を示す斜視図、図２は図１示の部品把持手段を示す平面図、図３は図２示の部品把持手段の作動を示す作動説明図であり、図４は他の実施形態における図２示の部品把持手段の作動を示す作動説明図、図５は図４示の部品把持手段の側面図である。
【００２２】
図１示のように、本実施形態の部品収納抽出装置１は、外枠２の内部を多段多列に区画して画成された部品収納部３を備える収納棚４と、収納棚４の一方の側に備えられた部品収納搬送手段５ａと、収納棚４の他方の側に備えられた部品抽出搬送手段５ｂとからなる。
【００２３】
部品収納部３は、部品として弾性を備える金属リング（図示せず）を収納するものであって、前後両端面３ａ，３ｂが開放されていて、端面３ａ，３ｂの両方から金属リングが収納、抽出できるようにされている。本実施形態において、前記金属リングは、無段変速機（ＣＶＴ）用のベルトとして用いられる積層リングの各層を構成するものであり、周長値等のサイズデータが設計値となるように製造されたのち、該サイズデータが別途測定されている。
【００２４】
部品収納搬送手段５ａは、柱状部材６ａと、柱状部材６ａに沿って垂直方向に移動自在に備えられた垂直移動手段７ａと、垂直移動手段７ａに備えられた部品把持手段８ａとからなる。柱状部材６ａは収納棚４の側方に設けられた支柱９ａ，９ａ間の上部及び下部に差し渡して設けられたスクリュー１０ａ，１０ａに係合して、収納棚４の一方の面に沿って水平方向に移動自在に備えられている。
【００２５】
また、部品抽出搬送手段５ｂは、部品収納搬送手段５ａに対応して、柱状部材６ｂと、柱状部材６ｂに沿って垂直方向に移動自在に備えられた垂直移動手段７ｂと、垂直移動手段７ｂに備えられた部品把持手段８ｂとからなる。柱状部材６ｂは収納棚４の側方に設けられた支柱９ｂ，９ｂ間の上部及び下部に差し渡して設けられたスクリュー１０ｂ，１０ｂに係合して、収納棚４の一方の面に沿って水平方向に移動自在に備えられている。
【００２６】
そして、部品収納搬送手段５ａと部品抽出搬送手段５ｂとは、図示しない制御手段により、それぞれ独立に駆動される。
【００２７】
垂直移動手段７ａ，７ｂとしては、例えば図示しないモータに駆動され、柱状部材６ａ，６ｂに垂直方向に沿って形成された溝部６ｃに設けられた図示しないギヤ等に係合して垂直に移動するもの等を用いることができる。
【００２８】
部品把持手段８ａ，８ｂは同一の構成となっており、部品把持手段８ａを例として図２（ａ）に示すように、基板１１と、基板１１の下方に備えられた爪部材１２ａ，１２ｂと、爪部材１２ａ，１２ｂを駆動するリンク機構１３とを備えている。爪部材１２ａ，１２ｂはその長さ方向に沿って３カ所から外側方に突出する突出部１４ａ，１４ｂを相対向する位置に備え、突出部１４ａ，１４ｂはその先端部に下方に突出し相対向して金属リングＷを挟持する挟持部材１５ａ，１５ｂを備えている。
【００２９】
リンク機構１３は、２組のリンク１６ａ，１６ｂ、１７ａ，１７ｂと、リンク１６ａ，１６ｂ、１７ａ，１７ｂを駆動するシリンダ１８とからなる。リンク１６ａ，１６ｂは先端部が基板１１の幅方向に設けられた孔部１９ａ，１９ｂに沿って移動自在に螺着されると共に、後端部が共に基板１１の長さ方向に設けられた孔部２０を介してシリンダ１８のシリンダロッド２１に螺着され、シリンダロッド２１の作動に従って孔部２０に沿って移動自在とされている。また、リンク１７ａ，１７ｂは先端部が基板１１の幅方向に設けられた孔部２２ａ，２２ｂに沿って移動自在に螺着されると共に、後端部が共に基板１１の長さ方向に設けられた孔部２３を介してシリンダ１８のシリンダロッド２１に螺着され、シリンダロッド２１の作動に従って孔部２３に沿って移動自在とされている。
【００３０】
次に、図２（ａ），２（ｂ）を参照して、部品把持部材８ａの作動について説明する。尚、前述のように、部品把持部材８ｂは部品把持部材８ａと全く同一の構成を備えており、部品把持部材８ａと全く同一に作動する。
【００３１】
図２（ａ）は、シリンダロッド２１が後退し、リンク１６ａ，１６ｂ、１７ａ，１７ｂはそれぞれの後端部が孔部２０，２３に沿ってシリンダ１８側に移動し、これに伴ってリンク１６ａ，１６ｂ、１７ａ，１７ｂのそれぞれの先端部が孔部１９ａ，１９ｂ、２２ａ，２２ｂに沿って基板１１の内方に移動した状態となっている。このとき、爪部材１２ａ，１２ｂに備えられた挟持部材１５ａ，１５ｂの間隔は最も縮小された状態となっており、３組の挟持部材１５ａ，１５ｂの間に金属リングＷが長円形状に撓められて挟持される。
【００３２】
次に、シリンダ１８によりシリンダロッド２１が前進せしめられると、リンク１６ａ，１６ｂ、１７ａ，１７ｂのそれぞれの後端部が孔部２０，２３に沿ってシリンダ１８から離間する側に移動せしめられる。これに伴って、リンク１６ａ，１６ｂ、１７ａ，１７ｂのそれぞれの先端部は孔部１９ａ，１９ｂ、２２ａ，２２ｂに沿って基板１１の外方に移動し、爪部材１２ａ，１２ｂに備えられた挟持部材１５ａ，１５ｂの間隔を拡大する。このとき、金属リングＷは、その弾性により挟持部材１５ａ，１５ｂの間に挟持された状態を維持しつつ、円形に復帰しようとする。
【００３３】
次に、本実施形態の部品収納抽出装置１の作動について説明する。
【００３４】
まず、前工程で製造された後、周長値等のサイズデータが測定された金属リングＷが部品収納搬送手段５ａに供給されると、部品収納搬送手段５ａの部品把持手段８ａが図２（ａ）示の状態で金属リングＷを把持する。次に、図示しない制御装置は、この金属リングＷを収納する部品収納部３の位置情報と、部品収納搬送手段５ａの現在の位置とから、柱状部材６ａの水平移動距離及び垂直移動手段７ａの垂直移動距離を算出する。そして、前記制御手段は、柱状部材６ａ及び垂直移動手段７ａを駆動して、部品把持手段８ａの水平移動距離及び垂直移動距離により定まる部品収納部３が、前記制御手段により付与される位置情報に一致するようにし、部品把持手段８ａを前記金属リングＷを収納する部品収納部３に臨む位置に移動せしめる。
【００３５】
金属リングＷを把持した部品把持手段８ａが部品収納部３に臨む状態を図３（ａ）に示す。部品把持手段８ａは、コ字状部材２４に取着されたロッドレスシリンダ２５の下方に吊持部材２６を介して吊持されており、コ字状部材２４は柱状部材６ａの側面に沿って垂直方向に移動自在に備えられた垂直移動手段７ａに支持されているコ字状部材２７に取着されたロッドレスシリンダ２８にさらに支持されている。
【００３６】
一方、部品収納部３の床面２９には、上方に突出する保持部材３０ａ，３０ｂが２組設けられており、保持部材３０ａ，３０ｂは、部品把持手段８ａの挟持手段１５ａ，１５ｂの間隔が最も縮小された場合と、最も拡大された場合との中間の間隔を存して相対向して備えられている。
【００３７】
このとき、垂直移動手段７ａは、部品把持手段８ａに把持された金属リングＷを保持部材３０ａ，３０ｂと同高度になるようにしており、部品把持手段８ａは挟持部材１５ａ，１５ｂの間隔を保持部材３０ａ，３０ｂの間隔より縮小した状態で金属リングＷを挟持部材１５ａ，１５ｂの間に挟持して把持している。また、保持部材３０ａ，３０ｂは上面が爪部材１２ａ，１２ｂの下面よりも低い位置にあり、挟持部材１５ａ，１５ｂの下面は部品収納部３の床面２９より高い位置にある。尚、図３（ａ）乃至図３（ｄ）では、リンク機構１３は省略して示している。
【００３８】
次に、図３（ｂ）に示すように、ロッドレスシリンダ２５が部品収納部３に接近する方向に移動し、爪部材１２ａ，１２ｂを部品収納部３内に進入せしめる。このとき、部品把持手段８ａは挟持部材１５ａ，１５ｂの間隔が保持部材３０ａ，３０ｂの間隔より縮小された状態となっているので、金属リングＷを挟持部材１５ａ，１５ｂの間に挟持した状態で、保持部材３０ａ，３０ｂの間に進入する。また、２組の保持部材３０ａ，３０ｂはそれぞれ、爪部材１２ａ，１２ｂに備えられた３組の突出部１４ａ，１４ｂの間に位置するように配設されている。
【００３９】
次に、部品把持手段８ａは図２（ｂ）について説明したようにリンク機構１３を作動させて、挟持部材１５ａ，１５ｂの間隔を拡大する。この結果、図３（ｃ）に示すように、挟持部材１５ａ，１５ｂの間隔が保持部材３０ａ，３０ｂの間隔よりも拡大される。
【００４０】
挟持部材１５ａ，１５ｂの間隔が拡大されると、金属リングＷは、その弾性により挟持部材１５ａ，１５ｂの間に挟持された状態を維持しつつ、円形に復帰しようとする。この結果、金属リングＷは、挟持部材１５ａ，１５ｂによる挟持が解除され、代わって拡大された挟持部材１５ａ，１５ｂの間隔よりも狭い間隔で設けられている保持部材３０ａ，３０ｂに挟持されて保持される。
【００４１】
次に、図３（ｄ）示のように、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動し、爪部材１２ａ，１２ｂを後退させる。すると、金属リングＷは、保持部材３０ａ，３０ｂに挟持されて保持された状態で部品収納部３内に残置されるので、部品収納部３に対する収納が完了する。
【００４２】
そこで、前記制御手段は、部品収納搬送手段５ａにより部品収納部３に収納される金属リングＷに係るサイズデータ等の情報と、金属リングＷが収納された部品収納部３の位置情報とを相互に対応づけて記憶する。
【００４３】
次に、部品収納部３に収納されている金属リングＷを抽出するときには、前記制御手段は、収納棚４に収納されている複数の金属リングＷの中から所定の条件に該当するサイズデータ等の情報を備える金属リングＷを選択する。次に、前記制御手段は、該サイズデータ等の情報に対応づけられて記憶されている該金属リングＷの位置情報と、部品抽出搬送手段５ｂの現在の位置とから、柱状部材６ｂの水平移動距離及び垂直移動手段７ｂの垂直移動距離を算出する。そして、前記制御手段は、柱状部材６ｂ及び垂直移動手段７ｂを駆動して、部品把持手段８ｂの水平移動距離及び垂直移動距離により定まる部品収納部３が、前記制御手段により付与される位置情報に一致するようにし、部品把持手段８ｂを前記金属リングＷが収納されている部品収納部３に臨む位置に移動せしめる。
【００４４】
部品抽出搬送手段５ｂの部品把持手段８ｂが前記部品収納部３に臨む状態は、図３（ｄ）において、柱状部材６ａ、垂直移動部材７ａ、部品把持手段８ａを、それぞれ柱状部材６ｂ、垂直移動部材７ｂ、部品把持手段８ｂと読み替えた状態と同一である。そして、部品把持手段８ｂにより金属リングＷを抽出する手順は、部品把持手段８ａが金属リングＷを収納する手順と、全く逆になる。
【００４５】
そこで、次に、図３（ａ）乃至図３（ｄ）において、柱状部材６ａ、垂直移動部材７ａ、部品把持手段８ａを、それぞれ柱状部材６ｂ、垂直移動部材７ｂ、部品把持手段８ｂと読み替えて、部品把持手段８ｂにより金属リングＷを抽出する手順について説明する。
【００４６】
部品把持手段８ｂにより金属リングＷを抽出するときには、まず、図３（ｄ）に示すように、部品把持手段８ｂが部品収納部３に臨んだ状態で、図２示のリンク機構１３を作動させて、挟持部材１５ａ，１５ｂの間隔を保持部材３０ａ，３０ｂの間隔よりも拡大する。
【００４７】
次に、ロッドレスシリンダ２５が部品収納部３に接近する方向に移動し、爪部材１２ａ，１２ｂを部品収納部３内に進入せしめる。すると、部品把持手段８ｂは挟持部材１５ａ，１５ｂの間隔が保持部材３０ａ，３０ｂの間隔より拡大された状態となっているので、図３（ｃ）に示すように挟持部材１５ａ，１５ｂが保持部材３０ａ，３０ｂに挟持されて保持されている金属リングＷの外周側に位置する。
【００４８】
そこで、図２示のリンク機構１３を作動させて、挟持部材１５ａ，１５ｂの間隔を保持部材３０ａ，３０ｂの間隔より縮小する。この結果、図３（ｂ）に示すように、保持部材３０ａ，３０ｂに保持されていた金属リングＷが、保持部材３０ａ，３０ｂに代わって挟持部材１５ａ，１５ｂにより、外周側から挟持される。
【００４９】
次に、図３（ａ）に示すように、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動し、爪部材１２ａ，１２ｂを後退させる。すると、金属リングＷは、挟持部材１５ａ，１５ｂに挟持された状態で、部品収納部３から抽出される。そこで、部品抽出搬送手段５ｂは、前述のようにして抽出した金属リングＷを所定の払い出し位置等に搬送する。
【００５０】
本実施形態の部品収納抽出装置１では、部品収納搬送手段５ａと、部品抽出搬送手段５ｂとは、前述の作動を収納棚４の両側でそれぞれ独立して行うことができる。従って、金属リングＷの収納と抽出とを迅速に行うことができる。
【００５１】
前記実施形態では、部品抽出搬送手段５ｂは、収納棚４から抽出した金属リングＷを１個づつ所定の払い出し位置等に搬送するようにしているが、図４及び図５に示すように、部品把持手段８ｂに抽出した複数の金属リングＷを保持する仮収納手段３１を設け、仮収納手段３１に保持される数の金属リングＷを単位として所定の払い出し位置等に搬送するようにしてもよい。
【００５２】
仮収納手段３１は、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動して、爪部材１２ａ，１２ｂを後退させたときに、挟持手段１５ａ，１５ｂの間に挟持された金属リングＷが位置する部分に設けられ、支持部材３２を介して垂直移動手段７ｂに取着されることにより、部品把持手段８ｂと同期して垂直移動自在に設けられている。仮収納手段３１は、支持部材３２に柱部材６ａと平行に取着された支柱３３に沿って昇降自在に備えられた昇降手段３４と、昇降手段３４に支持されるアーム部材３５に備えられたロッドレスシリンダ３６と、ロッドレスシリンダ３６に取着されたマガジン部材３７とからなる。そして、マガジン部材３７は、部品把持手段８ｂの挟持手段１５ａ，１５ｂの間隔が最も縮小された場合と、最も拡大された場合との中間の間隔を存して相対向する２組の保持部材３８ａ，３８ｂを上下２段に備え、２組の保持部材３８ａ，３８ｂは前記のように後退せしめられた爪部材１２ａ，１２ｂに備えられる３組の挟持手段１５ａ，１５ｂの間に位置するように配設されている。
【００５３】
次に、抽出した金属リングＷを仮収納手段３１に保持させる手順について説明する。
【００５４】
まず、昇降手段３４が支柱３３に沿って上方に移動し、図５示のように、マガジン部材３７の下段側の保持部材３８ａ，３８ｂが、部品把持手段８ｂの挟持手段１５ａ，１５ｂと同高度に位置するようにする。この状態で、部品把持手段８ｂが前述の手段より金属リングＷを挟持手段１５ａ，１５ｂの間に挟持し、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動すると、挟持手段１５ａ，１５ｂの間隔は、保持部材３８ａ，３８ｂの間隔よりも縮小されているので、図４（ａ）に示すように、挟持手段１５ａ，１５ｂの間に挟持された金属リングＷが保持部材３８ａ，３８ｂの間に導入される。
【００５５】
次に、図２示のリンク機構１３により、挟持部材１５ａ，１５ｂの間隔を保持部材３８ａ，３８ｂの間隔よりも拡大すると、図４（ｂ）に示すように、金属リングＷは、挟持部材１５ａ，１５ｂによる挟持が解除され、代わって拡大された挟持部材１５ａ，１５ｂの間隔よりも狭い間隔で設けられている保持部材３８ａ，３８ｂに挟持されて保持される。
【００５６】
そこで、次に、図４（ｃ）示のように、ロッドレスシリンダ２８が仮収納手段３１から離間する方向に移動し、部品把持手段８ｂを後退させると、金属リングＷは、保持部材３８ａ，３８ｂに挟持されて保持された状態で仮収納手段３１に残置され、仮収納が完了する。
【００５７】
こののち、昇降手段３４は支柱３３に沿って下方に移動し、マガジン部材３７の上段側の保持部材３８ａ，３８ｂが、部品把持手段８ｂの挟持手段１５ａ，１５ｂと同高度に位置するようにする。また、部品把持手段８ｂはロッドレスシリンダ２８が仮収納手段３１に接近する方向に移動することにより、図３（ｄ）に示す状態に復帰する。
【００５８】
次に、部品把持手段８ｂは新たに選択された金属リングＷが収納されている部品収納部３に臨む位置に移動せしめられる。そして、部品把持手段８ｂは、前述と同一の手順により新たに選択された金属リングＷを抽出し、マガジン部材３７の上段側の保持部材３８ａ，３８ｂに仮収納する。
【００５９】
仮収納手段３１は、マガジン部材３７の全ての保持部材３８ａ，３８ｂに金属リングＷが仮収納されたならば、図４（ｃ）示のように、ロッドレスシリンダ２８が仮収納手段３１から離間する方向に移動し、部品把持手段８ｂを後退させる。そして、この状態で、図５示のロッドレスシリンダ３６が支柱３３から離間する方向に移動し、マガジン部材３７に仮収納された金属リングＷを払い出す。
【００６０】
前記実施形態では、マガジン部材３７は保持部材３８ａ，３８ｂを上下２段に備え、２本の金属リングＷを仮収納するようにしているが、保持部材３８ａ，３８ｂをさらに多段に設け、より多くの金属リングＷを仮収納するようにしてもよい。
【図面の簡単な説明】
【図１】本発明の部品収納抽出装置の一実施形態の構成を示す斜視図。
【図２】図１示の部品把持手段を示す平面図。
【図３】図２示の部品把持手段の作動を示す作動説明図。
【図４】他の実施形態における図２示の部品把持手段の作動を示す作動説明図。
【図５】図４示の部品把持手段の側面図。
【符号の説明】
１…部品収納抽出装置、２…外枠、３…部品収納部、４…収納棚、５ａ…部品収納搬送手段、５ｂ…部品抽出搬送手段、８ａ…第１の部品把持手段、８ｂ…第２の部品把持手段、１３…拡縮手段、１５ａ，１５ｂ…挟持手段、３０ａ，３０ｂ…保持手段。[0001]
BACKGROUND OF THE INVENTION
When assembling a product composed of a plurality of parts such as a belt for a continuously variable transmission (CVT), the present invention stores the parts in a predetermined position or extracts the parts stored in a predetermined position. The present invention relates to a component storage and extraction device.
[0002]
[Prior art]
For example, a belt for a continuously variable transmission (CVT) used as a transmission of an automobile or the like is configured by a laminated ring that is assembled by laminating a plurality of endless metal rings in the thickness direction. This kind of laminated ring is basically selected one by one metal rings of each layer manufactured so that the circumference value and radius are designed values (which are different from each other for each layer), Laminate them in combination. Then, this operation is repeated as many times as necessary for the number of laminated rings.
[0003]
However, although the metal rings constituting each layer of the laminated ring are basically manufactured so that the circumference value and radius are the design values as described above, they always match the design values with high accuracy. However, in general, a certain amount of variation occurs mainly in the design value due to manufacturing errors. For this reason, when the metal rings of the respective layers are combined and laminated, even if the metal rings of the respective layers are arbitrarily selected (randomly) one by one and combined, it is not always possible to obtain a desired laminated ring. .
[0004]
Therefore, when assembling the laminated ring, after manufacturing the metal ring of each layer, size data such as the circumference value of each metal ring is separately measured, and each metal ring is associated with the measurement data and stored in a component storage shelf, etc. Stored in. Then, in order to select and combine the metal rings of each layer, the metal rings of each layer are selected and extracted one by one from the component storage shelf or the like according to predetermined combination conditions.
[0005]
For example, a device described in JP-A-6-321320 is known as a component storage / extraction apparatus that stores components in the component storage shelf and extracts the stored components. The component storage and extraction device described in the above publication includes a storage shelf including a component storage portion that is defined by dividing the inside of an outer frame into multiple rows and columns, and that opens on one surface, and the component storage portion of the storage shelf is open. And a parts conveying means that moves along the surface. The component conveying means includes a component gripping member that is movable in a horizontal direction and a vertical direction along a surface where the component storage portion is open, and grips a component such as a metal ring by the component gripping member. The components can be stored in the component storage unit, and the components stored in the component storage unit can be extracted.
[0006]
However, in the component storage and extraction apparatus, both the storage and extraction of the components are performed by the component conveying means, so that it takes time to store and extract the components. Therefore, in order to quickly store and extract parts in the parts storage and extraction device, two parts transporting means are provided, one of which is responsible for storing the parts and the other is responsible for sharing the parts extraction. Conceivable.
[0007]
However, if the two component conveying means are provided along the surface where the component storage portion is open, the two component conveying means move along the same surface and move so as not to interfere with each other. There is an inconvenience that complicated control is required to achieve this.
[0008]
[Problems to be solved by the invention]
An object of the present invention is to provide a component storage and extraction device that eliminates such inconvenience, is easy to control, and can quickly store and extract components.
[0009]
[Means for Solving the Problems]
The component storage and extraction device of the present invention includes a storage shelf that includes a component storage section that is defined by dividing the inside of an outer frame into multiple stages and multiple rows and whose front and rear end surfaces are open, and holds one of the storage shelves. A first component gripping unit that is movable along the surface of the first component gripping unit, a component storage transporting unit that transports and stores the component gripped by the first component gripping unit to a predetermined component storage unit; A second component gripping means that is movable along the other surface of the storage shelf, and grips the component stored in the predetermined component storage section by the second component gripping means. And a component extracting and conveying means for extracting and conveying the component to a predetermined position, wherein the component is an elastic ring, and the component storage portions are arranged to face each other with a predetermined interval. The A plurality of holding members; For each opposing pair The holding member is Between the two The ring is held in a bent state, and the first and second component gripping means are a pair of claw members arranged to face each other with a predetermined interval, and the claw member with respect to the component storage unit. Along the length direction of each claw member And each other Opposite do it A plurality of pairs of sandwiching members disposed; and For each opposing pair Expansion / contraction means for enlarging / reducing the gap between the holding members, and when the claw member is caused to enter the component storage portion by the advance / retreat means, the holding member is Along the length direction of each claw member Arranged to be located between the clamping members, The component extracting and conveying means is in a state expanded from the interval of the holding member. Entered the parts storage Each pair The interval between the holding members is smaller than the interval between the holding members. , Held in the component storage From the outer periphery side of the ring With the clamping member Pinching, The component storing and conveying means is in a state of being reduced by an interval between the holding members, sandwiching the ring from the outer peripheral side, and entering each component storing portion. Release the holding of the ring by increasing the interval of the holding member more than the interval of the holding member And hold the ring in the component storage unit. It is characterized by that.
[0010]
According to the component storage and extraction apparatus of the present invention, the component storage units having both front and rear end surfaces are provided in multiple stages and multiple rows to form a storage shelf, and the component storage and conveyance is performed along one surface of the storage shelf. And a component extraction / conveyance means along the other surface, so there is no need to consider that the component storage / conveyance means and the component extraction / conveyance means interfere with each other. Control can be easily performed. Further, according to the component storage and extraction apparatus of the present invention, the front and rear end surfaces of the component storage portion are open, so that the components are stored on one side of the storage shelf by the both conveying means, and at the same time the other In this aspect, since the parts can be extracted, the parts can be quickly stored and extracted.
[0011]
The present invention The first component gripping means is movable in the horizontal direction and the vertical direction along one surface of the storage shelf, and the component storage and transport means is gripped by the first component gripping means. The component to be processed is conveyed and stored in a component storage portion determined by the horizontal and vertical movement distances of the first component gripping means, and the second component gripping means is horizontally aligned along the other surface of the storage shelf. The component extraction / conveyance means moves a component stored in the component storage portion from the component storage portion determined by the horizontal and vertical movement distances of the second component gripping means to the second storage portion. When the component is gripped and extracted by the component gripping means and transported to a predetermined position, the component storage portion is provided with position information of the component storage portion for storing the component, and the component is stored by the component storage and transport means Pertaining to Information and the position information of the component storage unit in which the component is stored are stored in association with each other, and the position information of the component storage unit corresponding to the information related to the component to be extracted is given to the component extracting and conveying means. And a control means for controlling the operation of the parts storing and conveying means and the parts extracting and conveying means. Is preferred .
[0012]
Said With control means In the component storage / extraction apparatus, both the component storage / conveyance means and the component extraction / conveyance means include component gripping means that are movable in the horizontal and vertical directions along the storage shelf, and are controlled by the control means. To transport parts.
[0013]
According to such a component storage / extraction apparatus, first, when storing a component in the component storage unit, the control unit gives position information of the component storage unit storing the component to the component storage / conveying unit. Then, the component storage / conveying means is arranged such that the component storage portion determined by the horizontal and vertical movement distances of the first component gripping means coincides with the position information given by the control means. The component gripping means is moved in the horizontal direction and the vertical direction. Then, the component gripped by the first component gripping means is transported and stored in the component storage unit that matches the position information.
[0014]
At this time, the control means stores the information related to the parts stored by the parts storage and conveyance means and the positional information of the parts storage part in which the parts are stored in association with each other.
[0015]
Next, when extracting a component stored in the component storage unit, the control unit provides the component extraction transport unit with position information of the component storage unit associated with the information related to the component. . Then, the component extraction / conveyance means is arranged such that the component storage portion determined by the horizontal and vertical movement distances of the second component gripping means matches the position information given by the control means. The component gripping means is moved in the horizontal direction and the vertical direction. Then, the component stored in the component storage unit matching the position information is gripped and extracted by the second component gripping means, and conveyed to a predetermined position such as a payout position for the next process.
[0016]
Therefore , By replacing the position information of the component storage portion with the horizontal and vertical movement distances of the component gripping means, the operations of the component storage and transport means and the component extraction and transport means can be easily controlled.
[0017]
Also, the component storage and extraction device of the present invention In The parts Has elasticity In the ring The When being held in a bent state by a plurality of pairs of holding members arranged opposite to each other with a predetermined interval in the component storage portion, the component gripping means is provided to be able to advance and retreat with respect to the component storage portion. A plurality of pairs of sandwiching members arranged opposite to each other with a space therebetween, and the space between the gripping members that have entered the component storage portion is reduced from the space between the holding members to sandwich the ring from the outer peripheral side, Expansion / contraction means for releasing the holding of the ring by increasing the interval of the holding member to be larger than the interval of the holding member; Prepare .
[0018]
In the component gripping means, when the ring having elasticity as the component is held in a state of being bent by the holding member, the gap between the holding members is expanded by the expansion / contraction means than the interval between the holding members. The ring is held by the holding member from the outer peripheral side by entering the component storage portion in a state and then reducing the interval between the holding members by the expansion / contraction means from the interval between the holding members. Can do.
[0019]
The component gripping means reduces the interval between the holding members by the expansion / contraction means from the interval between the holding members, enters the component storage portion in a state where the ring is gripped from the outer peripheral side, and then expands / contracts Thus, by enlarging the interval between the holding members more than the interval between the holding members, the holding of the ring can be released and the ring can be held by the holding member.
[0020]
Therefore, according to the component gripping means, the ring can be clamped or the clamping can be released only by advancing and retreating between the columnar member and the component storage portion, and by increasing or decreasing the interval between the clamping members. As a result, the ring as the part can be easily stored and extracted.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. FIG. 1 is a perspective view showing the configuration of the component storage and extraction device of this embodiment, FIG. 2 is a plan view showing the component gripping means shown in FIG. 1, and FIG. 3 is an operation explanatory diagram showing the operation of the component gripping means shown in FIG. 4 is an operation explanatory view showing the operation of the component gripping means shown in FIG. 2 in another embodiment, and FIG. 5 is a side view of the component gripping means shown in FIG.
[0022]
As shown in FIG. 1, the component storage / extraction apparatus 1 according to the present embodiment includes a storage shelf 4 including a component storage unit 3 defined by dividing the inside of an outer frame 2 into multiple rows and columns, and a storage shelf 4. It consists of a component storage / conveying means 5a provided on one side and a component extraction / conveying means 5b provided on the other side of the storage shelf 4.
[0023]
The component storage unit 3 stores a metal ring (not shown) having elasticity as a component, the front and rear end surfaces 3a and 3b are open, and the metal ring is stored from both the end surfaces 3a and 3b. It can be extracted. In this embodiment, the metal ring constitutes each layer of a laminated ring used as a belt for a continuously variable transmission (CVT), and is manufactured so that size data such as a circumference value becomes a design value. After that, the size data is separately measured.
[0024]
The component storage / conveying means 5a includes a columnar member 6a, a vertical moving means 7a provided to be movable in the vertical direction along the columnar member 6a, and a component gripping means 8a provided to the vertical moving means 7a. The columnar member 6 a is engaged with screws 10 a and 10 a provided across the upper and lower portions between the support columns 9 a and 9 a provided on the side of the storage shelf 4, and horizontally along one surface of the storage shelf 4. It is equipped to move freely in the direction.
[0025]
The component extraction / conveyance means 5b corresponds to the component storage / conveyance means 5a, and includes a columnar member 6b, a vertical movement means 7b that is vertically movable along the columnar member 6b, and a vertical movement means 7b. The component gripping means 8b is provided. The columnar member 6b engages with screws 10b, 10b provided across the upper and lower portions between the support columns 9b, 9b provided on the side of the storage shelf 4 and horizontally along one surface of the storage shelf 4. It is equipped to move freely in the direction.
[0026]
The component storage / conveyance means 5a and the component extraction / conveyance means 5b are independently driven by a control means (not shown).
[0027]
The vertical moving means 7a and 7b are driven by a motor (not shown), for example, and engage with a gear (not shown) provided in a groove 6c formed along the vertical direction of the columnar members 6a and 6b to move vertically. A thing etc. can be used.
[0028]
The component gripping means 8a and 8b have the same configuration, and the component gripping means 8a is taken as an example, as shown in FIG. 2 (a), and the board 11 and the claw members 12a and 12b provided below the board 11 And a link mechanism 13 for driving the claw members 12a and 12b. The claw members 12a and 12b are provided with projecting portions 14a and 14b projecting outward from three locations along the length direction thereof, and the projecting portions 14a and 14b project downward at the tip portions and face each other. And holding members 15a and 15b for holding the metal ring W.
[0029]
The link mechanism 13 includes two sets of links 16a, 16b, 17a, and 17b and a cylinder 18 that drives the links 16a, 16b, 17a, and 17b. The links 16 a and 16 b are screwed so as to be movable along holes 19 a and 19 b provided in the width direction of the substrate 11, and the rear ends are holes provided in the length direction of the substrate 11. It is screwed to the cylinder rod 21 of the cylinder 18 through the portion 20 and is movable along the hole 20 according to the operation of the cylinder rod 21. The links 17a and 17b are screwed so as to be movable along the hole portions 22a and 22b provided in the width direction of the substrate 11, and the rear end portions thereof are both provided in the length direction of the substrate 11. It is screwed into the cylinder rod 21 of the cylinder 18 through the hole 23 and is movable along the hole 23 according to the operation of the cylinder rod 21.
[0030]
Next, the operation of the component gripping member 8a will be described with reference to FIGS. 2 (a) and 2 (b). As described above, the component gripping member 8b has the same configuration as the component gripping member 8a, and operates exactly the same as the component gripping member 8a.
[0031]
In FIG. 2A, the cylinder rod 21 is retracted, and the rear ends of the links 16a, 16b, 17a, and 17b move to the cylinder 18 side along the holes 20 and 23, and accordingly the link 16a. , 16b, 17a, and 17b are moved inwardly along the holes 19a, 19b, 22a, and 22b. At this time, the interval between the holding members 15a and 15b provided in the claw members 12a and 12b is in the most reduced state, and the metal ring W is bent into an oval shape between the three sets of holding members 15a and 15b. Pinched.
[0032]
Next, when the cylinder rod 21 is advanced by the cylinder 18, the rear end portions of the links 16 a, 16 b, 17 a, and 17 b are moved along the holes 20 and 23 to the side away from the cylinder 18. Along with this, the distal ends of the links 16a, 16b, 17a, 17b move to the outside of the substrate 11 along the holes 19a, 19b, 22a, 22b, and are held by the claw members 12a, 12b. The interval between the members 15a and 15b is enlarged. At this time, the metal ring W tries to return to a circular shape while maintaining the state of being held between the holding members 15a and 15b due to its elasticity.
[0033]
Next, the operation of the component storage and extraction device 1 of the present embodiment will be described.
[0034]
First, after the metal ring W, which has been manufactured in the previous process and whose size data such as the circumference value is measured, is supplied to the component storage / conveying means 5a, the component gripping means 8a of the component storage / conveying means 5a is shown in FIG. a) Hold the metal ring W in the state shown. Next, the control device (not shown) determines the horizontal movement distance of the columnar member 6a and the vertical movement means 7a from the position information of the component storage section 3 that stores the metal ring W and the current position of the component storage conveyance means 5a. Calculate the vertical movement distance. And the said control means drives the columnar member 6a and the vertical movement means 7a, and the components storage part 3 defined by the horizontal movement distance and the vertical movement distance of the component holding means 8a is added to the positional information given by the said control means. The component gripping means 8a is moved to a position facing the component storage portion 3 for storing the metal ring W so as to coincide with each other.
[0035]
FIG. 3A shows a state where the component gripping means 8 a that grips the metal ring W faces the component storage unit 3. The component gripping means 8a is suspended through a suspension member 26 below a rodless cylinder 25 attached to the U-shaped member 24, and the U-shaped member 24 extends along the side surface of the columnar member 6a. It is further supported by a rodless cylinder 28 attached to a U-shaped member 27 supported by vertical movement means 7a provided so as to be movable in the vertical direction.
[0036]
On the other hand, two sets of holding members 30a and 30b projecting upward are provided on the floor surface 29 of the component storage unit 3, and the holding members 30a and 30b have a gap between the holding means 15a and 15b of the component gripping means 8a. They are provided opposite to each other with an intermediate interval between the most reduced case and the most enlarged case.
[0037]
At this time, the vertical moving means 7a is configured so that the metal ring W gripped by the component gripping means 8a has the same height as the holding members 30a and 30b, and the component gripping means 8a holds the interval between the clamping members 15a and 15b. The metal ring W is sandwiched and held between the sandwiching members 15a and 15b in a state where the distance is smaller than the interval between the members 30a and 30b. Further, the holding members 30 a and 30 b have upper surfaces that are lower than the lower surfaces of the claw members 12 a and 12 b, and the lower surfaces of the holding members 15 a and 15 b are higher than the floor surface 29 of the component storage unit 3. In FIG. 3A to FIG. 3D, the link mechanism 13 is omitted.
[0038]
Next, as shown in FIG. 3B, the rodless cylinder 25 moves in a direction approaching the component storage unit 3, and the claw members 12 a and 12 b enter the component storage unit 3. At this time, the component gripping means 8a is in a state in which the interval between the holding members 15a and 15b is smaller than the interval between the holding members 30a and 30b, so that the metal ring W is held between the holding members 15a and 15b. And enters between the holding members 30a and 30b. The two sets of holding members 30a and 30b are disposed so as to be positioned between the three sets of protrusions 14a and 14b provided in the claw members 12a and 12b, respectively.
[0039]
Next, the component gripping means 8a operates the link mechanism 13 as described with reference to FIG. 2B, and widens the interval between the clamping members 15a and 15b. As a result, as shown in FIG. 3C, the interval between the holding members 15a and 15b is larger than the interval between the holding members 30a and 30b.
[0040]
When the interval between the holding members 15a and 15b is increased, the metal ring W tries to return to a circular shape while maintaining the state of being held between the holding members 15a and 15b due to its elasticity. As a result, the metal ring W is released from being held by the holding members 15a and 15b, and is held and held by holding members 30a and 30b that are provided at a narrower interval than the interval between the holding members 15a and 15b that are enlarged instead. Is done.
[0041]
Next, as shown in FIG. 3 (d), the rodless cylinder 25 moves in a direction away from the component storage portion 3 to retract the claw members 12 a and 12 b. Then, since the metal ring W is left in the component storage unit 3 while being held between the holding members 30a and 30b, the storage in the component storage unit 3 is completed.
[0042]
Therefore, the control means mutually transmits information such as size data related to the metal ring W stored in the component storage unit 3 by the component storage transport unit 5a and position information of the component storage unit 3 in which the metal ring W is stored. Store it in association with.
[0043]
Next, when extracting the metal ring W stored in the component storage unit 3, the control unit selects size data corresponding to a predetermined condition from among the plurality of metal rings W stored in the storage shelf 4. A metal ring W having the following information is selected. Next, the control means horizontally moves the columnar member 6b from the position information of the metal ring W stored in association with the information such as the size data and the current position of the component extraction / conveyance means 5b. The distance and the vertical movement distance of the vertical movement means 7b are calculated. The control means drives the columnar member 6b and the vertical movement means 7b, and the component storage portion 3 determined by the horizontal movement distance and the vertical movement distance of the component gripping means 8b is added to the position information given by the control means. The component gripping means 8b is moved to a position facing the component storage portion 3 in which the metal ring W is stored.
[0044]
The state in which the component gripping means 8b of the component extraction / conveyance means 5b faces the component storage section 3 is shown in FIG. 3 (d). It is the same as the state replaced with the member 7b and the component gripping means 8b. The procedure for extracting the metal ring W by the component gripping means 8b is completely opposite to the procedure for storing the metal ring W by the component gripping means 8a.
[0045]
Therefore, next, in FIGS. 3A to 3D, the columnar member 6a, the vertical moving member 7a, and the component gripping means 8a are read as the columnar member 6b, the vertical moving member 7b, and the component gripping means 8b, respectively. The procedure for extracting the metal ring W by the component gripping means 8b will be described.
[0046]
When the metal ring W is extracted by the component gripping means 8b, first, as shown in FIG. 3D, the link mechanism 13 shown in FIG. 2 is operated with the component gripping means 8b facing the component storage portion 3. Thus, the interval between the holding members 15a and 15b is made larger than the interval between the holding members 30a and 30b.
[0047]
Next, the rodless cylinder 25 moves in a direction approaching the component storage unit 3 to cause the claw members 12 a and 12 b to enter the component storage unit 3. Then, since the component gripping means 8b is in a state in which the interval between the holding members 15a and 15b is larger than the interval between the holding members 30a and 30b, the holding members 15a and 15b are held by the holding members as shown in FIG. It is located on the outer peripheral side of the metal ring W held between 30a and 30b.
[0048]
Therefore, the link mechanism 13 shown in FIG. 2 is operated to reduce the interval between the holding members 15a and 15b to be smaller than the interval between the holding members 30a and 30b. As a result, as shown in FIG. 3B, the metal ring W held by the holding members 30a and 30b is clamped from the outer peripheral side by the clamping members 15a and 15b instead of the holding members 30a and 30b.
[0049]
Next, as shown in FIG. 3A, the rodless cylinder 25 moves in a direction away from the component storage unit 3 to retract the claw members 12 a and 12 b. Then, the metal ring W is extracted from the component storage unit 3 while being sandwiched between the sandwiching members 15a and 15b. Therefore, the parts extracting and conveying means 5b conveys the metal ring W extracted as described above to a predetermined payout position or the like.
[0050]
In the component storage / extraction apparatus 1 of the present embodiment, the component storage / conveyance means 5a and the component extraction / conveyance means 5b can perform the above-described operations independently on both sides of the storage shelf 4 respectively. Accordingly, the metal ring W can be stored and extracted quickly.
[0051]
In the above-described embodiment, the component extracting and conveying means 5b conveys the metal rings W extracted from the storage shelf 4 one by one to a predetermined payout position or the like. However, as shown in FIGS. Temporary storage means 31 for holding a plurality of extracted metal rings W may be provided in the gripping means 8b, and the number of metal rings W held in the temporary storage means 31 may be transported to a predetermined payout position or the like. .
[0052]
The temporary storage means 31 moves in a direction in which the rodless cylinder 25 moves away from the component storage portion 3 and retracts the claw members 12a and 12b, so that the metal ring W held between the holding means 15a and 15b. Is attached to the vertical movement means 7b via the support member 32, and is provided so as to be vertically movable in synchronization with the component gripping means 8b. The temporary storage means 31 is provided on an elevating means 34 that can be raised and lowered along a column 33 attached to a support member 32 in parallel with the column member 6a, and an arm member 35 supported by the elevating means 34. It consists of a rodless cylinder 36 and a magazine member 37 attached to the rodless cylinder 36. The magazine member 37 has two sets of holding members 38a facing each other with an intermediate interval between the case where the interval between the clamping units 15a and 15b of the component gripping unit 8b is reduced most and the case where it is enlarged most. , 38b in two upper and lower stages, and the two sets of holding members 38a, 38b are arranged so as to be positioned between the three sets of clamping means 15a, 15b provided in the claw members 12a, 12b retracted as described above. It is installed.
[0053]
Next, a procedure for holding the extracted metal ring W in the temporary storage means 31 will be described.
[0054]
First, the lifting / lowering means 34 moves upward along the column 33, and as shown in FIG. 5, the lower holding members 38a and 38b of the magazine member 37 have the same height as the clamping means 15a and 15b of the component gripping means 8b. To be located. In this state, when the component gripping means 8b clamps the metal ring W between the clamping means 15a and 15b by the aforementioned means, and the rodless cylinder 25 moves away from the component storage part 3, the clamping means 15a and 15b. Is smaller than the distance between the holding members 38a and 38b. Therefore, as shown in FIG. 4 (a), the metal ring W held between the holding means 15a and 15b is connected to the holding members 38a and 38b. Introduced between.
[0055]
Next, when the distance between the holding members 15a and 15b is larger than the distance between the holding members 38a and 38b by the link mechanism 13 shown in FIG. 2, as shown in FIG. 4 (b), the metal ring W becomes the holding member 15a. , 15b is released, and is held and held by holding members 38a, 38b provided at a narrower interval than the interval between the holding members 15a, 15b enlarged instead.
[0056]
Therefore, as shown in FIG. 4C, when the rodless cylinder 28 moves away from the temporary storage means 31 and the component gripping means 8b is moved backward, the metal ring W is moved to the holding members 38a, It is left in the temporary storage means 31 while being sandwiched and held by 38b, and the temporary storage is completed.
[0057]
After that, the elevating means 34 moves downward along the column 33 so that the holding members 38a, 38b on the upper side of the magazine member 37 are positioned at the same height as the clamping means 15a, 15b of the component gripping means 8b. . Further, the component gripping means 8b returns to the state shown in FIG. 3D when the rodless cylinder 28 moves in the direction approaching the temporary storage means 31.
[0058]
Next, the component gripping means 8b is moved to a position facing the component storage unit 3 in which the newly selected metal ring W is stored. The component gripping means 8b extracts the newly selected metal ring W by the same procedure as described above, and temporarily stores it in the holding members 38a and 38b on the upper side of the magazine member 37.
[0059]
When the metal ring W is temporarily stored in all the holding members 38a, 38b of the magazine member 37, the temporary storage means 31 is separated from the temporary storage means 31 as shown in FIG. The component gripping means 8b is moved backward. Then, in this state, the rodless cylinder 36 shown in FIG. 5 moves in a direction away from the column 33, and the metal ring W temporarily stored in the magazine member 37 is paid out.
[0060]
In the above embodiment, the magazine member 37 is provided with the holding members 38a and 38b in two upper and lower stages, and temporarily stores the two metal rings W. However, the holding members 38a and 38b are further provided in multiple stages and more. The metal ring W may be temporarily stored.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration of an embodiment of a component storage and extraction device of the present invention.
FIG. 2 is a plan view showing the component gripping means shown in FIG.
FIG. 3 is an operation explanatory view showing the operation of the component gripping means shown in FIG. 2;
4 is an operation explanatory view showing the operation of the component gripping means shown in FIG. 2 in another embodiment.
5 is a side view of the component gripping means shown in FIG. 4. FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Component storage extraction apparatus, 2 ... Outer frame, 3 ... Component storage part, 4 ... Storage shelf, 5a ... Component storage conveyance means, 5b ... Component extraction conveyance means, 8a ... First component gripping means, 8b ... Second Parts gripping means, 13 ... expansion / contraction means, 15a, 15b ... clamping means, 30a, 30b ... holding means.

Claims

外枠の内部を多段多列に区画して画成され前後両端面が開放された部品収納部を備える収納棚と、
部品を把持し、該収納棚の一方の面に沿って移動自在とされる第１の部品把持手段を備え、該第１の部品把持手段により把持される部品を所定の部品収納部に搬送して収納する部品収納搬送手段と、
部品を把持し、該収納棚の他方の面に沿って移動自在とされる第２の部品把持手段を備え、前記所定の部品収納部に収納された部品を該第２の部品把持手段により把持して抽出し、所定の位置に搬送する部品抽出搬送手段とを備え、
前記部品は弾性を有するリングであり、
前記部品収納部は、所定の間隔を存して対向配置された複数の保持部材を備え、対向する各対の保持部材は両者の間に前記リングを撓めた状態で保持し、
前記第１、第２の部品把持手段は、所定の間隔を存して対向配置される一対の爪部材と、該爪部材を前記部品収納部に対して進退せしめる進退手段と、各爪部材の長さ方向に沿って且つ互いに対向して配置された複数対の挟持部材と、対向する各対の挟持部材の間隔を拡大・縮小する拡縮手段とを備え、
前記進退手段により前記爪部材が前記部品収納部に進入せしめられたときに、前記保持部材は前記各爪部材の長さ方向に沿って前記挟持部材の間に位置するように配置され、
前記部品抽出搬送手段は、前記保持部材の間隔より拡大された状態となって前記部品収納部に進入した各対の挟持部材の間隔を前記保持部材の間隔より縮小して、前記部品収納部に保持されている前記リングを外周側から該挟持部材で挟持し、
前記部品収納搬送手段は、前記保持部材の間隔より縮小された状態となって前記リングを外周側から挟持して前記部品収納部に進入した各対の挟持部材の間隔を該保持部材の間隔より拡大して該リングの挟持を解除し、該リングを前記部品収納部に保持せしめることを特徴とする部品収納抽出装置。A storage shelf comprising a component storage section defined by dividing the inside of the outer frame into multi-stage multi-rows and having open front and rear end faces;
First component gripping means is provided that grips the component and is movable along one surface of the storage shelf, and transports the component gripped by the first component gripping means to a predetermined component storage section. Component storing and conveying means for storing
A second component gripping means that grips a component and is movable along the other surface of the storage shelf is provided, and the component stored in the predetermined component storage section is gripped by the second component gripping means. And extracting and transporting parts to a predetermined position.
The part is an elastic ring;
The component storage unit includes a plurality of holding members arranged to face each other at a predetermined interval, and each pair of holding members facing each other holds the ring in a bent state between them ,
The first and second component gripping means include a pair of claw members disposed opposite to each other with a predetermined interval, advancing / retracting means for moving the claw member back and forth with respect to the component storage portion, comprising a clamping member a plurality of pairs of and disposed opposite each other along the length direction, and a scaling means for scaling the spacing of the clamping member of each pair of opposing,
When the claw member is caused to enter the component storage portion by the advance / retreat means, the holding member is disposed so as to be positioned between the clamping members along the length direction of each claw member ,
The component extraction / conveyance means reduces the interval between each pair of sandwiching members that have entered the component storage unit in a state that is larger than the interval between the holding members, and reduces the interval between the holding members to the component storage unit. Holding the ring held by the holding member from the outer peripheral side;
The component storage / conveying means is in a state of being smaller than the interval between the holding members, and holds the ring from the outer peripheral side so that the interval between each pair of holding members that has entered the component storage portion is greater than the interval between the holding members. An apparatus for extracting and storing a component , wherein the component is expanded and released to hold the ring, and the ring is held in the component storage unit.

前記第１の部品把持手段は、前記収納棚の一方の面に沿って水平方向及び垂直方向に移動自在とされ、
前記部品収納搬送手段は、該第１の部品把持手段により把持される部品を、該第１の部品把持手段の水平方向及び垂直方向の移動距離により定まる部品収納部に搬送して収納し、
前記第２の部品把持手段は、前記収納棚の他方の面に沿って水平方向及び垂直方向に移動自在とされ、
前記部品抽出搬送手段は、該第２の部品把持手段の水平方向及び垂直方向の移動距離により定まる部品収納部から該部品収納部に収納された部品を、該第２の部品把持手段により把持して抽出し、
該抽出した部品を所定の位置に搬送するときに、該部品を収納する部品収納部の位置情報を前記部品収納搬送手段に付与し、該部品収納搬送手段により収納される部品に係る情報と該部品が収納された部品収納部の位置情報とを対応づけて記憶し、抽出する部品に係る情報に対応づけられている部品収納部の位置情報を前記部品抽出搬送手段に付与して、該部品収納搬送手段及び該部品抽出搬送手段の作動を制御する制御手段を備えることを特徴とする請求項１記載の部品収納抽出装置。The first component gripping means is movable in a horizontal direction and a vertical direction along one surface of the storage shelf,
The component storage / conveying means conveys and stores the component gripped by the first component gripping means to a component storage portion determined by the horizontal and vertical movement distances of the first component gripping means,
The second component gripping means is movable in the horizontal direction and the vertical direction along the other surface of the storage shelf,
The component extraction / conveyance means grips a component stored in the component storage portion from the component storage portion determined by the horizontal and vertical movement distances of the second component gripping means by the second component gripping means. Extract
When transporting the extracted component to a predetermined position, position information of a component storage unit that stores the component is given to the component storage transport unit, and information about the component stored by the component storage transport unit and the information The position information of the component storage unit in which the component is stored is stored in association with each other, and the position information of the component storage unit associated with the information related to the component to be extracted is given to the component extraction transport unit, 2. The component storage and extraction apparatus according to claim 1, further comprising a control unit that controls the operation of the storage and conveyance unit and the component extraction and conveyance unit.