Equipment

Abstract

To provide a jig stocker which is excellent in versatility.SOLUTION: A jig J which is detachably attached to a robot arm and supports various workpieces is disposed at a jig stocker 100. The jig stocker 100 includes jig attachment parts 1 to each of which the jig j is attached through an attachment member 2. The jig J includes a holding mechanism H for holding a workpiece. The attachment member 2 includes: held parts 21U, 21L held by the holding mechanism H; and fixed parts 22U, 22L detachably fixed to the respective jig attachment parts 1. There are several types of the jigs J having structures of the holding mechanism H which are different according to the type of the workpiece. There are several types of the attachment members 2 having structures of the held part 21U, 21L, which are different according to the type of the jig J, and the same structure of the fixed parts 22U, 22L.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a jig stocker to which a jig that is detachably attached to a robot arm and supports various workpieces is disposed.

Background Art

[0002] An example of such a jig stocker is disclosed in Patent Document 1 below. In the following descriptions of the "Background Art" and the "Problems to be Solved by the Invention", the reference signs in Patent Document 1 are cited in parentheses.

[0003] The jig stocker (60) of Patent Document 1 includes a plurality of jig attachment parts (63A to 63F) to which jigs (50A to 50F) are respectively attached.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above jig stocker (60), jigs (50A to 50F) of types corresponding to their configurations are attached to each of the plurality of jig attachment parts (63A to 63F). Therefore, for example, when introducing a new type of jig, etc., it is necessary to change the configuration of the jig attachment part so as to correspond to the jig, but for that purpose, a major change to the jig stocker (60) is required. Thus, the jig stocker (60) of Patent Document 1 was disadvantageous in terms of lack of versatility.

[0006] Therefore, it is desired to realize a jig stocker with excellent versatility.

Means for Solving the Problems

[0007] In view of the above, Equipment The characteristic configuration of A robotic arm, said a jig that is detachably attached to a robot arm and supports various workpieces and, said jig is arranged in a jig stock and an equipment provided with the same which is The jig stocker a plurality of mounting members and , that a plurality of jig mounting parts to which the jig is attached via the mounting members respectively , is provided with The jig a holding mechanism for holding the workpiece structure is provided, each of the plurality of mounting members includes a held part held by the holding mechanism and a fixing part detachably fixed to each of the plurality of jig mounting parts, there are a plurality of types of the jig in which the configuration of the holding mechanism differs according to the type of the workpiece, and before there are a plurality of types of the mounting member in which the configuration of the held part differs according to the type of the jig and the configuration of the fixing part is the same, with the jig attached to the jig mounting part, the direction in which the jig mounting part and the jig are aligned is defined as the front - rear direction, the held part has a contact surface facing the side of the jig mounting part in the front - rear direction with the fixing part fixed to the jig mounting part, the holding mechanism includes a contact part that contacts the contact surface, and a switching part configured to be switchable between a fixed state in which the contact part is brought into contact with the contact surface to fix the jig to the jig mounting part and a released state in which the contact part is separated from the contact surface to make the jig movable with respect to the jig mounting part.

[0008] According to this characteristic configuration, a jig is attached to each of a plurality of jig attachment parts via an attachment member including a held part held by a holding mechanism of the jig and a fixing part detachably fixed to the jig attachment part. And there are a plurality of types of attachment members according to the type of the jig. In the plurality of types of attachment members, while the held parts have different configurations according to the type of the jig, the fixing parts have a common configuration. Thereby, various types of jigs can be attached to the jig attachment part only by replacing the attachment member according to the type of the jig without changing the configuration of the jig attachment part. Therefore, a jig stocker with excellent versatility can be realized. Also, according to this characteristic configuration, by switching the switching part to either the fixed state or the released state, the jig can be easily attached to and detached from the jig mounting part.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0010] 1. First Embodiment Hereinafter, the jig stocker 100 according to the first embodiment will be described with reference to the drawings. As shown in FIG. 1, the jig stocker 100 is configured such that the jig J is arranged. The jig J is detachably attached to the robot arm R in order to support various workpieces W. The jig J includes a holding mechanism H (see FIG. 2) for holding the workpiece W.

[0011] There are a plurality of types of the jig J in which the configuration of the holding mechanism H differs according to the type of the work W. A plurality of types of jigs J are arranged in the jig stocker 100. Then, among these jigs J, the jig J of the type corresponding to the work W is selected and attached to the robot arm R. In the present embodiment, the work W is a door unit of the vehicle body V conveyed in the conveyance direction D by the conveyance device T. In the illustrated example, the jig stocker 100 and the robot arm R are arranged on both sides in the conveyance path of the vehicle body V, respectively.

[0012] As shown in FIG. 2, the jig stocker 100 includes a plurality of jig attachment portions 1 to which the jigs J are attached. In the present embodiment, the plurality of jig attachment portions 1 are arranged side by side along the vertical direction. In this example, three jig attachment portions 1 are arranged side by side along the vertical direction.

[0013] In the following description, in a state where the jig J is attached to the jig attachment portion 1, the direction in which they are arranged is defined as the "front-rear direction Y". And in that state, the side where the jig J is located with respect to the jig attachment portion 1 in the front-rear direction Y is defined as the "front side Y1", and the opposite side is defined as the "rear side Y2". Also, the direction orthogonal to the front-rear direction Y in plan view is defined as the "left-right direction X". Further, the direction along the vertical direction is defined as the "up-down direction Z".

[0014] As shown in FIGS. 3 and 4, in the present embodiment, each of the plurality of jig attachment portions 1 includes a pair of upper fastening portions 11U and a pair of lower fastening portions 11L disposed below the upper fastening portions 11U. In the present embodiment, the jig stocker 100 includes a pair of support frames 3 spaced apart in the left-right direction X. And a pair of upper fastening portions 11U are respectively fixed to the pair of support frames 3 so as to protrude from the pair of support frames 3 to both outer sides in the left-right direction X. The pair of upper fastening portions 11U are disposed at the same position in the up-down direction Z. Also, a pair of lower fastening portions 11L are respectively fixed to the pair of support frames 3 so as to protrude from the pair of support frames 3 to both outer sides in the left-right direction X. The pair of lower fastening portions 11L are disposed at the same position in the up-down direction Z. The pair of upper fastening portions 11U and the pair of lower fastening portions 11L are disposed at the same position in the left-right direction X. Further, in this example, each of the upper fastening portion 11U and the lower fastening portion 11L is formed in a plate shape having a plate surface orthogonal to the front-rear direction Y.

[0015] A jig J is attached to each of the plurality of jig attachment portions 1 via an attachment member 2. This In the embodiment, the attachment member 2 includes an upper attachment member 2U and a lower attachment member 2L.

[0016] In the example shown in FIG. 2, among the three jig mounting portions 1 arranged in the vertical direction Z, a jig J is mounted on each of the upper jig mounting portion 1 and the middle jig mounting portion 1 via a mounting member 2. Note that the mounting member 2 is not fixed to the lower jig mounting portion 1, and the jig J is not mounted thereon. In the following description, the upper jig mounting portion 1 is referred to as the "first jig mounting portion 1A". The upper mounting member 2U and the lower mounting member 2L corresponding to the first jig mounting portion 1A are referred to as the "first upper mounting member 2UA" and the "first lower mounting member 2LA", respectively. Further, the jig J mounted on the first jig mounting portion 1A via the first upper mounting member 2UA and the first lower mounting member 2LA is referred to as the "first jig JA". Also, the middle jig mounting portion 1 is referred to as the "second jig mounting portion 1B". The upper mounting member 2U and the lower mounting member 2L corresponding to the second jig mounting portion 1B are referred to as the "second upper mounting member 2UB" and the "second lower mounting member 2LB", respectively. Further, the jig J mounted on the second jig mounting portion 1B via the second upper mounting member 2UB and the second lower mounting member 2LB is referred to as the "second jig JB". Also, the lower jig mounting portion 1 is referred to as the "third jig mounting portion 1C".

[0017] As shown in FIGS. 3 and 4, each of the first upper mounting member 2UA and the second upper mounting member 2UB includes an upper held portion 21U held by the holding mechanism H of the jig J and an upper fixing portion 22U detachably fixed to each of the plurality of jig mounting portions 1.

[0018] In the present embodiment, the upper held portion 21U has an upper contact surface 21Ua facing the side (rear side Y2) of the jig mounting portion 1 in the front-rear direction Y in a state where the upper fixing portion 22U is fixed to the jig mounting portion 1. In this example, two upper held portions 21U are provided on each of the second upper mounting member 2UB and the second upper mounting member 2UB. The two upper held portions 21U project forward in the front-rear direction Y1 and further project along the left-right direction X so as to approach each other. The upper contact surface 21Ua is formed on each of the surfaces on the rear side Y2 of the portions projecting along the left-right direction X in the two upper held portions 21U.

[0019] In addition, in the present embodiment, a pair of upper fixing portions 22U are fixed to a pair of upper fastening portions 11U in the jig mounting portion 1. In this example, the pair of upper fixing portions 22U are formed in a plate shape having a plate surface orthogonal to the front-rear direction Y. Then, the corresponding upper fixing portion 22U and upper fastening portion 11U are fastened by bolts in a state of being in contact with each other in the front-rear direction Y.

[0020] Each of the first lower mounting member 2LA and the second lower mounting member 2LB includes a lower held portion 21L held by the holding mechanism H of the jig J, and a lower fixing portion 22L detachably fixed to each of the plurality of jig mounting portions 1.

[0021] In the present embodiment, the lower held portion 21L has a lower contact surface 21La facing the side (rear side Y2) of the jig mounting portion 1 in the front-rear direction Y in a state where the lower fixing portion 22L is fixed to the jig mounting portion 1. As shown in FIG. 3, in this example, two lower held portions 21L are provided on the first lower mounting member 2LA. Further, as shown in FIG. 4, in this example, three lower held portions 21L are provided on the second lower mounting member 2LB. Each lower held portion 21L is formed in a plate shape having a plate surface orthogonal to the front-rear direction Y. And the lower contact surface 21La is formed on the surface of the rear side Y2 of each lower held portion 21L.

[0022] As shown in FIGS. 3 and 4, in the present embodiment, a pair of lower fixing portions 22L are fixed to a pair of lower fastening portions 11L in the jig mounting portion 1. In this example, the pair of lower fixing portions 22L are formed in a plate shape having a plate surface orthogonal to the front-rear direction Y. Then, the corresponding lower fixing portion 22L and lower fastening portion 11L are fastened by bolts in a state of being in contact with each other in the front-rear direction Y.

[0023] In this example, the relative positions of the two upper held portions 21U with respect to the pair of upper fixing portions 22U in the first upper mounting member 2UA are different from the relative positions of the two upper held portions 21U with respect to the pair of upper fixing portions 22U in the second upper mounting member 2UB. Also, as described above, the number of the lower held portions 21L in the first lower mounting member 2LA is different from the number of the lower held portions 21L in the second lower mounting member 2LB. On the other hand, the pair of upper fixing portions 22U in the first upper mounting member 2UA is configured in the same manner as the pair of upper fixing portions 22U in the second upper mounting member 2UB. Further, the pair of lower fixing portions 22L in the first lower mounting member 2LA is configured in the same manner as the pair of lower fixing portions 22L in the second lower mounting member 2LB. Thus, there are a plurality of types of the mounting member 2 in which the configurations of the held portions 21U and 21L are different according to the type of the jig J while the configurations of the fixing portions 22U and 22L are the same. Here, the "configuration" of each part includes the position, shape, number, etc. of each part.

[0024] Also, in the present embodiment, each of the first lower mounting member 2LA and the second lower mounting member 2LB includes a pair of support portions 23 that support the jig J from below. The pair of support portions 23 is formed so as to protrude forward in the Y1 direction.

[0025] Also, in the present embodiment, each of the first upper mounting member 2UA and the second upper mounting member 2UB includes a pair of upper receiving portions 24U that contact the jig J from the rear side Y2. The pair of upper receiving portions 24U are arranged at intervals in the left-right direction X. Also, in the present embodiment, each of the first lower mounting member 2LA and the second lower mounting member 2LB includes a pair of lower receiving portions 24L that contact the jig J from the rear side Y2. The pair of lower receiving portions 24L are arranged at intervals in the left-right direction X.

[0026] As shown in FIGS. 3 and 4, in the present embodiment, the holding mechanism H of the jig J includes an upper holding mechanism HU and a lower holding mechanism HL. The upper holding mechanism HU and the lower holding mechanism HL are attached to a jig frame F formed in a frame shape provided in the jig J. In this example, two upper holding mechanisms HU and two lower holding mechanisms HL are provided in the first jig JA (see FIG. 3). Also, two upper holding mechanisms HU and three lower holding mechanisms HL are provided in the second jig JB (see FIG. 4).

[0027] The upper holding mechanism HU includes an upper contact portion H1U and an upper switching portion H2U.

[0028] As shown in FIG. 3, in the present embodiment, the upper contact portion H1U of the first jig JA is configured to contact the upper contact surface 21Ua of the first upper mounting member 2UA. In this example, the two upper contact portions H1U in the first jig JA are each configured to contact the two upper contact surfaces 21Ua in the first upper mounting member 2UA. Also, as shown in FIG. 4, in the present embodiment, the upper contact portion H1U of the second jig JB is configured to contact the upper contact surface 21Ua of the second upper mounting member 2UB. In this example, the two upper contact portions H1U in the second jig JB are each configured to contact the two upper contact surfaces 21Ua in the second upper mounting member 2UB.

[0029] As shown in FIGS. 3 and 4, the upper switching portion H2U is configured to be switchable between a fixed state in which the upper contact portion H1U is brought into contact with the upper contact surface 21Ua to fix the jig J to the jig mounting portion 1, and a released state in which the upper contact portion H1U is separated from the upper contact surface 21Ua to make the jig J movable with respect to the jig mounting portion 1.

[0030] In the present embodiment, the upper switching portion H2U includes an upper locking portion H3U connected to the upper contact portion H1U, an upper swing shaft H4U that swingably supports the upper locking portion H3U, and an upper drive portion H5U that swings the upper locking portion H3U.

[0031] In this embodiment, in the fixed state, the upper locking portion H3U and the upper abutting portion H1U overlap the upper abutting surface 21Ua in the front-rear direction view along the front-rear direction Y on the rear side Y2 of the upper abutting surface 21Ua, and extend in the left-right direction X. Further, in the released state, the upper locking portion H3U and the upper abutting portion H1U extend in the front-rear direction Y so as not to overlap the upper abutting surface 21Ua in the front-rear direction view along the front-rear direction Y. Here, regarding the arrangement of the two elements, "overlapping in a specific direction view" means that when a virtual straight line parallel to the line-of-sight direction is moved in each direction orthogonal to the virtual straight line, there is at least a part of the region where the virtual straight line intersects both of the two elements.

[0032] In this embodiment, the upper driving portion H5U is a cylinder (for example, a pneumatic cylinder) in which the rod moves in and out in the front-rear direction Y. As such a cylinder, a cylinder with a brake having a function of fixing the rod at an arbitrary position in the front-rear direction Y, an end-lock cylinder having a function of fixing the rod at each of the both end positions in the front-rear direction Y, etc. can be adopted. By using such a cylinder as the upper driving portion H5U, even when the supply of power such as compressed air and electric power to the upper driving portion H5U is stopped due to the jig J being removed from the robot arm R or the like, the fixed state of the upper switching portion H2U can be maintained. Therefore, the jig J can be appropriately attached to the jig attachment portion 1 without continuing the supply of power to the upper driving portion H5U.

[0033] Further, in this embodiment, the upper swing shaft H4U is formed to extend in the vertical direction Z. In this example, a plurality of upper swing shafts H4U are configured as a part of a link mechanism that connects them so that the upper locking portion H3U swings as the rod of the upper driving portion H5U moves in and out.

[0034] The lower holding mechanism HL includes a lower abutting portion H1L and a lower switching portion H2L.

[0035] As shown in FIG. 3, in the present embodiment, the lower contact portion H1L of the first jig JA is configured to contact the lower contact surface 21La of the first lower mounting member 2LA. In this example, the two lower contact portions H1L of the first jig JA are each configured to contact the two lower contact surfaces 21La of the first lower mounting member 2LA. Further, as shown in FIG. 4, in the present embodiment, the lower contact portion H1L of the second jig JB is configured to contact the lower contact surface 21La of the second lower mounting member 2LB. In this example, the three lower contact portions H1L of the second jig JB are each configured to contact the three lower contact surfaces 21La of the second lower mounting member 2LB.

[0036] As shown in FIGS. 3 and 4, the lower switching portion H2L is configured to switch between a fixed state in which the lower contact portion H1L is brought into contact with the lower contact surface 21La to fix the jig J to the jig mounting portion 1, and a released state in which the lower contact portion H1L is separated from the lower contact surface 21La to make the jig J movable with respect to the jig mounting portion 1.

[0037] In the present embodiment, the lower switching portion H2L includes a lower locking portion H3L connected to the lower contact portion H1L, a lower swing shaft H4L that swingably supports the lower locking portion H3L, and a lower driving portion H5L that swings the lower locking portion H3L.

[0038] In the present embodiment, in the fixed state, the lower locking portion H3L and the lower contact portion H1L extend in the vertical direction Z such that they overlap the lower contact surface 21La in a front-rear direction view along the front-rear direction Y on the rear side Y2 with respect to the lower contact surface 21La. Further, in the released state, the lower locking portion H3L extends in the front-rear direction Y such that the lower locking portion H3L and the lower contact portion H1L do not overlap the lower contact surface 21La in a front-rear direction view along the front-rear direction Y. are extending.

[0039] In this embodiment, the lower driving unit H5L is a cylinder (for example, a pneumatic cylinder) in which a rod moves back and forth in the front-rear direction Y. As such a cylinder, a cylinder with a brake having a function of fixing the rod at an arbitrary position in the front-rear direction Y, an end-lock cylinder having a function of fixing the rod at each of both end positions in the front-rear direction Y, etc. can be adopted. By using such a cylinder as the lower driving unit H5L, even when the supply of power such as compressed air or electric power to the lower driving unit H5L is stopped due to the jig J being removed from the robot arm R or the like, the fixed state of the lower switching unit H2L can be maintained. Therefore, the jig J can be appropriately attached to the jig attachment part 1 without continuing the supply of power to the lower driving unit H5L.

[0040] Also, in this embodiment, the lower swing shaft H4L is formed to extend in the left-right direction X. In this example, a plurality of lower swing shafts H4L are configured as part of a link mechanism that connects them so that the lower locking part H3L swings as the rod of the lower driving unit H5L moves back and forth.

[0041] In this embodiment, for the plurality of types of jigs J, at least one of the positions, shapes, and numbers of the contact parts H1U and H1L is different from each other. As described above, in this example, the relative positions of the two upper held parts 21U with respect to the pair of upper fixing parts 22U in the first upper attachment member 2UA are different from the relative positions of the two upper held parts 21U with respect to the pair of upper fixing parts 22U in the second upper attachment member 2UB. Specifically, in the first upper attachment member 2UA and the second upper attachment member 2UB, the positions of the two upper held parts 21U in the left-right direction X are different. Therefore, in this example, the positions of the two upper holding mechanisms HU corresponding to the two upper held parts 21U are different between the first jig JA and the second jig JB in the left-right direction X. Also, as described above, the number of the lower holding mechanisms HL in the first jig JA is different from the number of the lower holding mechanisms HL in the second jig JB. Thus, in this example, for the plurality of types of jigs J, the positions of the upper contact parts H1U are different from each other, and the numbers of the lower contact parts H1L are different from each other.

[0042] In this embodiment, with the upper switching part H2U and the lower switching part H2L in the released state, the jig J is moved to the rear side Y2 by the robot arm R (see FIG. 1) with respect to the mounting member 2 fixed to the jig mounting part 1. Then, when the jig frame F of the jig J abuts against the pair of upper receiving parts 24U and the pair of lower receiving parts 24L from the front side Y1 and is placed on the pair of support parts 23, the robot arm R further moves the jig J. Thereafter, by setting the upper switching part H2U and the lower switching part H2L in the fixed state, the jig J is attached to the jig mounting part 1 via the mounting member 2. In this way, the jig J is attached to the jig mounting part 1 by using the holding mechanism H for holding the workpiece W. Therefore, there is no need to separately provide a mechanism for attaching the jig J to the jig mounting part 1. When removing the jig J from the jig mounting part 1, the operations are performed in the reverse order of the above.

[0043] 2. Second Embodiment Hereinafter, the jig stocker 100 according to the second embodiment will be described with reference to FIGS. 5 and 6. In this embodiment, the arrangement of the jig mounting part 1 is different from that of the first embodiment described above. Hereinafter, the description will focus on the differences from the first embodiment. For points not particularly described, the same applies as in the first embodiment.

[0044] As shown in FIG. 5, in this embodiment, a plurality of jig mounting units 10 each constituted by a plurality of jig mounting parts 1 arranged side by side in the vertical direction Z are provided. The first jig mounting part 1A, the second jig mounting part 1B, and the third jig mounting part 1C in the first embodiment correspond to one jig mounting unit 10.

[0045] As shown in Fig. 6, a plurality of jig mounting units 10 are arranged side by side along the circumferential direction of the rotation axis along the vertical direction Z. And the plurality of jig mounting units 10 are rotatably supported about the rotation axis thereof. In the present embodiment, a pair of support frames 3 that support each jig mounting unit 10 are connected to each other by a connection frame 4. And a rotation axis 5 formed to extend in the vertical direction Z is connected to the connection frame 4. By the rotation axis 5 being rotationally driven by a specified driving device, the plurality of jig mounting units 10 rotate about the axis of the rotation axis 5. In this example, four jig mounting units 10 are arranged at equal intervals along the circumferential direction of the axis of the rotation axis 5.

[0046] 3. Other Embodiments (1) In the above embodiment, the configuration in which three jig mounting portions 1 are arranged side by side in the vertical direction Z was described as an example. However, it is not limited to such a configuration, and two or four or more jig mounting portions 1 may be arranged. Further, the plurality of jig mounting portions 1 may be arranged obliquely with respect to the vertical direction Z. In this case, it is preferable that the plurality of jig mounting portions 1 are inclined with respect to the vertical direction Z such that the upper end of each jig mounting portion 1 faces the rear side Y2 with respect to the lower end. Further, the plurality of jig mounting portions 1 may be arranged side by side in the horizontal direction.

[0047] (2) In the above embodiment, the configuration in which the jig J is attached to the jig mounting portion 1 via two attachment members 2 (upper attachment member 2U, lower attachment member 2L) was described as an example. However, it is not limited to such a configuration, and the jig J may be attached to the jig mounting portion 1 via one or three or more attachment members 2.

[0048] (3) In the above-described embodiment, two upper holding mechanisms HU of the first jig JA and two upper held portions 21U of the first upper mounting member 2UA are provided, and two lower holding mechanisms HL of the first jig JA and two lower held portions 21L of the first lower mounting member 2LA are provided. Also, two upper holding mechanisms HU of the second jig JB and two upper held portions 21U of the second upper mounting member 2UB are provided, and three lower holding mechanisms HL of the second jig JB and three lower held portions 21L of the second lower mounting member 2LB are provided, and this configuration was described as an example. However, the number of the holding mechanism of the jig J and the held portion of the mounting member 2 is not limited.

[0049] (4) In the above-described embodiment, two upper fixing portions 22U of each mounting member 2 and two upper fastening portions 11U of the jig mounting portion 1 are provided, and two lower fixing portions 22L of each mounting member 2 and two lower fastening portions 11L of the jig mounting portion 1 are provided, and this configuration was described as an example. However, the number of the fixing portion of the mounting member 2 and the fastening portion of the jig mounting portion 1 is not limited.

[0050] (5) In the above-described embodiment, a configuration in which a plurality of types of jigs J have different positions of the upper contact portions H1U and different numbers of the lower contact portions H1L was described as an example. However, without being limited to such a configuration, for example, in a plurality of types of jigs J, at least one of the shapes of the upper contact portion H1U and the lower contact portion H1L may be different from each other.

[0051] (6) In the above-described embodiment, the upper holding mechanism HU includes the upper contact portion H1U, the upper locking portion H3U as the upper switching portion H2U, the upper swing shaft H4U, and the upper driving portion H5U, and the lower holding mechanism HL includes the lower contact portion H1L, the lower locking portion H3L as the lower switching portion H2L, the lower swing shaft H4L, and the lower driving portion H5L, and this configuration was described as an example. However, without being limited to such a configuration, for example, the holding mechanism H may be configured to hold the holding target (jig J, workpiece W) by engaging a pin with the holding target.

[0052] (7) In the above-described embodiment, an example in which the upper drive unit H5U and the lower drive unit H5L are configured by a pneumatic cylinder has been described, but the present invention is not limited thereto. The upper drive unit H 5U and the lower drive unit H5L may be configured by a hydraulic cylinder such as a hydraulic cylinder. Alternatively, the upper drive unit H5U and the lower drive unit H5L may be configured to include an electric actuator such as a solenoid or a motor.

[0053] (8) Note that the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be appropriately made within the scope not departing from the gist of the present disclosure.

[0054] 4. Outline of the above embodiment Hereinafter, an outline of the jig stocker described above will be described.

[0055] The jig stocker is a jig stocker that is detachably attached to a robot arm and on which jigs for supporting various workpieces are arranged, including a plurality of jig attachment parts to which the jigs are attached via attachment members respectively, the jig including a holding mechanism for holding the workpiece, the attachment member including a held part held by the holding mechanism and a fixing part detachably fixed to each of the plurality of jig attachment parts, there are a plurality of types of jigs in which the configuration of the holding mechanism differs according to the type of the workpiece, there are a plurality of types of attachment members in which the configuration of the held part differs according to the type of the jig and the configuration of the fixing part is the same.

[0056] According to this configuration, a jig is attached to each of a plurality of jig attachment parts via an attachment member including a held part held by a holding mechanism of the jig and a fixing part detachably fixed to the jig attachment part. And there are a plurality of types of attachment members according to the types of jigs. In the plurality of types of attachment members, while the held parts have different configurations according to the types of jigs, the fixing parts have a common configuration. Thereby, various jigs can be attached to the jig attachment part only by replacing the attachment member according to the type of jig without changing the configuration of the jig attachment part. Therefore, a jig stocker with excellent versatility can be realized.

[0057] Here, it is preferable that the plurality of jig attachment parts are arranged side by side along the vertical direction.

[0058] According to this configuration, a plurality of jigs can be arranged in the jig stocker by utilizing the space in the vertical direction. Therefore, many jigs can be arranged in the jig stocker while suppressing the horizontal arrangement area of the jig stocker to be small.

[0059] In the configuration in which the plurality of jig attachment parts are arranged side by side along the vertical direction, a plurality of jig attachment units constituted by the plurality of jig attachment parts arranged side by side along the vertical direction are provided, and it is preferable that the plurality of jig attachment units are arranged side by side along the circumferential direction of the rotation axis along the vertical direction and are rotatably supported around the rotation axis.

[0060] According to this configuration, more jigs can be arranged in the jig stocker while suppressing the horizontal arrangement area of the jig stocker to be small. Also, the robot arm can easily access a desired jig only by changing the rotation positions of the plurality of jig attachment units.

[0061] Also, with the jig attached to the jig attachment part, with the direction in which the jig attachment part and the jig are aligned as the front-rear direction, The held portion has a contact surface facing the side of the jig mounting portion in the front-rear direction in a state where the fixing portion is fixed to the jig mounting portion. The holding mechanism preferably includes a contact portion that contacts the contact surface, and a switching portion configured to be switchable between a fixed state in which the contact portion is brought into contact with the contact surface to fix the jig to the jig mounting portion and a released state in which the contact portion is separated from the contact surface to make the jig movable with respect to the jig mounting portion.

[0062] According to this configuration, by switching the switching portion to either the fixed state or the released state, the jig can be easily attached to and detached from the jig mounting portion.

[0063] The above configuration is suitable when at least one of the position, shape, and number of the contact portions of the plurality of types of jigs is different from each other. In such a configuration, it is difficult to attach various jigs to the jig mounting portion without using attachment members having different configurations of the held portion according to the type of jig.

[0064] Further, the switching portion preferably includes a locking portion connected to the contact portion, a swing shaft that swingably supports the locking portion, and a drive portion that swings the locking portion.

[0065] According to this configuration, by simply swinging the locking portion connected to the contact portion by the drive portion, the fixed state and the released state of the switching portion can be easily switched. Therefore, the configuration of the switching portion can be made simple.

Industrial Applicability

[0066] The technology according to the present disclosure can be used in a jig stocker in which a jig that is detachably attached to a robot arm and supports various workpieces is disposed.

Explanation of Reference Numerals

[0067] 100: Jig stocker 1: Jig mounting portion 2: Mounting member 2U: Upper mounting member 21U: Upper held portion (held portion) 22U: Upper fixing portion (fixing portion) 2L: Lower mounting member 21L: Lower held portion (held portion) 22L: Lower fixing portion (fixing portion) J: Fixture H: Holding mechanism HU: Upper holding mechanism HL: Lower holding mechanism W: Workpiece

Claims

1. A robot arm; A jig that is detachably attached to the robot arm and supports various workpieces; A jig stocker in which the jig is placed, the jig stocker includes a plurality of mounting members and a plurality of jig mounting portions to which the jigs are attached via the mounting members, The jig includes a holding mechanism for holding the workpiece, Each of the plurality of mounting members includes a held portion held by the holding mechanism and a fixing portion removably fixed to each of the plurality of jig mounting portions, There are a plurality of types of the jig, each of which has a different configuration of the holding mechanism depending on the type of the workpiece, The mounting member includes a plurality of types in which the configuration of the held portion differs depending on the type of the jig and the configuration of the fixing portion is the same, With the jig attached to the jig attachment portion, a direction in which the jig attachment portion and the jig are aligned is defined as a front-rear direction, the held portion has an abutment surface facing the jig attachment portion in the front-rear direction when the fixing portion is fixed to the jig attachment portion, The holding mechanism includes an abutment portion that abuts against the abutment surface, and a switching portion that is configured to be switchable between a fixed state in which the abutment portion abuts against the abutment surface to fix the jig to the jig mounting portion, and a released state in which the abutment portion is moved away from the abutment surface to allow the jig to move relative to the jig mounting portion.

2. The facility according to claim 1 , wherein the holding mechanisms provided on the multiple types of jigs are different from each other in at least one of the position, shape, and number of the abutment portions.

3. The facility according to claim 1 or 2, wherein the switching unit comprises a locking portion connected to the abutment portion, a swing shaft that swingably supports the locking portion, and a drive unit that swings the locking portion.

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