JP2001225286A - Conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveying device capable of conveying workpieces linearly from a press machine in a pre-process to a press machine in a following process, suppressing vibration at a workpiece grip part and ensuring a sufficient moving range for the transfer of the workpieces. SOLUTION: This conveying device has a first handling arm 21 with one end supported to the tip of a multiaxis robot 1; a second handling arm 24 with one end rotatably connected to the other end of the first handling arm 21; a driving device 25 for rotatory-driving the second handling arm 24; and a grip device 29 fixed to the other end of the second handling arm 24. The multiaxis robot 1 and the driving device 25 are so controlled that when a straight line in a moving direction in linearly moving the grip device 29 is set as a conveying direction line, an angle θ3 formed by the first handling arm 21 with the conveying direction line is equal to an angle θ4 formed by the second handling arm 24 with the conveying direction line.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example,
Conveying device used for taking out and the like, especially between the pressing process performed in several steps,
The present invention relates to a transfer device that takes out a work from a press machine in a previous process and transfers the work to a press machine in a next process.

[0002]

2. Description of the Related Art For example, a press-formed product having a three-dimensional free-form surface made of a thin steel plate such as an outer plate of an automobile is usually processed in several steps such as drawing, punching, bending, and punching a plate material. The shape is created through the process. At this time, an operation for taking out the work from the narrow gap between the upper mold and the lower mold of the press machine in the previous process, transferring the work to the narrow gap between the upper mold and the lower mold of the press machine in the next process (hereinafter, these operations). The operation is referred to as inter-press transfer). In recent years, transfer between presses has been performed using a multi-axis robot (articulated robot) in order to improve productivity and take measures against 3K workplaces.
Technologies related to robots that perform such tasks include:
For example, JP-A-9-290391 and JP-A-8-1
There is one disclosed in Japanese Patent No. 41969.

The robot disclosed in Japanese Patent Application Laid-Open No. 9-290391 has a slide device at the tip of its arm, and a gripping device at a moving part of the slide device. Such a robot operates a slide device when a work is taken out from a gap between an upper mold and a lower mold of a press machine or when a work is put into a gap between an upper mold and a lower mold in the next step. Is to secure a large operation range. Also, Japanese Patent Application Laid-Open No. H8-14196
The robot disclosed in Japanese Patent Publication No. 9 includes two slide portions formed of a double-size mechanism at the end of the arm thereof.
The operation of the two slide portions allows the workpiece to be transported at a high speed.

[0004]

However, these prior arts have the following problems. That is, JP-A-9
In the apparatus disclosed in Japanese Patent Application Laid-Open No.-290391, the robot takes out the work from the press machine in the previous process and loads the work into the press machine in the next process, as shown in FIG. Has a problem that the interference area of the robot is widened and the transfer distance is long. On the other hand, in the device disclosed in Japanese Patent Application Laid-Open No. H08-141969, the work can be transported linearly between the press machines by using two slide members. Therefore, there is a problem that the weight increases and vibration at the tip of the tool increases due to low rigidity.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and can linearly transfer a work from a press machine in a previous process to a press machine in a next process, and can hold a work. It is an object of the present invention to provide a transfer device capable of suppressing vibration in a portion to be small and securing a sufficient moving range for transferring a work.

[0006]

In order to achieve the above object, according to the first aspect of the present invention, each axis is driven, stopped, and positioned in a linear or rotational direction with the amount and timing taught in advance. A multi-axis robot configured as described above, a first handling arm having one end supported at the tip of the multi-axis robot, a second handling arm having one end rotatably coupled to the other end of the first handling arm, A driving device for rotating and driving the second handling arm; and a gripping device fixed to the other end of the second handling arm, wherein a straight line in a moving direction when the gripping device is linearly moved is set in a transport direction. And the angle (θ ₃ ) formed by the first handling arm with respect to the transport direction line and the angle (θ ₄ ) formed by the second handling arm with respect to the transport direction line are equal. The present invention provides a transfer device characterized in that a multi-axis robot and a drive device are controlled so as to be easy to operate.

With the configuration according to claim 1,
Since the gripping device is connected from the tip of the multi-axis robot via two handling arms connected sequentially, a wide operating range of the entire transfer device can be secured. It is possible to secure a sufficient moving range for transferring the work without increasing the size. Further, when the workpiece is transported linearly, the straight line in the moving direction is referred to as a transport direction line, and the angle (θ ₃ ) formed by the first handling arm with respect to the transport direction line and the second handling direction with respect to the transport direction line. The multi-axis robot and the driving device may be controlled so that the angle (θ ₄ ) formed by the arm is equal. Therefore, for example, the work may be linearly transferred from the press machine in the previous process to the press machine in the next process. It is easily possible. In addition, a structure in which two handling arms are sequentially connected is disclosed in Japanese Patent Application Laid-Open No. 8-141.
The weight of this portion can be reduced as compared with a double slide portion as disclosed in Japanese Patent Application Publication No. 969.

According to a second aspect of the present invention, in the first aspect of the present invention, the driving device is provided at the end of the first handling arm on the tip side of the multi-axis robot, and the driving force of the driving device is a power transmission member. Through the second handling arm. With this configuration, the second handling arm is operated by the drive device provided at the end of the first handling arm on the tip side of the multi-axis robot. For example, the drive device is connected to the connecting portion of the two handling arms. The rigidity of both handling arms can be set lower than in the case where it is provided, and the vibration at the tool tip caused by the low rigidity can be suppressed.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the driving device is controlled in synchronization with each driving axis of the multi-axis robot. With such a configuration, the driving device for rotating and driving the second handling arm is provided with additional axes of the driving axes of the multi-axis robot (for example, when the multi-axis robot has a six-axis
Axis) is controlled by the control device of the multi-axis robot, so that the second handling arm can be driven to rotate without interlocking even while each drive axis of the multi-axis robot is operating. ,as a result,
The cycle time can be reduced.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view for explaining a transfer device and an operation of the transfer device according to an embodiment of the present invention, and FIG. 2 is a side view thereof. FIG. 3 shows the handling arms 21 and 2 according to an embodiment of the present invention.
4 is a cross-sectional view, and FIG. 4 is a plan view for explaining the operation of the handling arms 21 and 24 in one embodiment of the present invention. FIG. 5 shows the process of transporting the work 3 from the press machine 4 in the previous process to the press machine 5 in the next process.
FIG. 9 is a plan view illustrating an operation mode of the transfer device when the work 3 is horizontally inverted by 180 °.

As shown in FIG. 2, the transfer device according to the present embodiment comprises a first handling arm 21 and a second handling arm 21 which are sequentially connected to a wrist 16 provided at the tip of a multi-axis robot 1 having a plurality of drive shafts. The handling arm 24 is mounted, and a gripping device 29 is provided at the tip of the second handling arm 24.

The multi-axis robot 1 is a so-called 6-axis vertical multi-joint robot. That is, the multi-axis robot 1
A robot base 11 fixedly installed on the floor 2, a revolving drum 12 mounted on the robot base 11 and rotatably supported about a vertical axis (I axis), and provided on the upper part of the revolving drum 12. A lower arm 13 pivotally supported rotatably about a first horizontal axis (II axis), an auxiliary link 14 cooperating with the lower arm 13, and an upper part of the lower arm 13. Up and down swingable horizontal shaft 15 rotatably supported around a second horizontal axis (III axis)
And a wrist 16 provided at the tip of the horizontal shaft 15. Further, the wrist 16 has three axes perpendicular to each other, that is, an IV axis in the longitudinal direction of the horizontal axis 15 and V axes and VI axes perpendicular to the axes, and is capable of rotating around the three axes. I have. Note that the detailed structure of the drive system of each axis is not the gist of the present invention, and thus the description is omitted.

As shown in FIG. 3, the first handling arm 21 has a base end fixedly attached to the wrist 16 and a motor with a reduction gear as a driving device provided near the base end. A pulley 26 is integrally fixed to the output shaft 25. On the other hand, the first handling arm 21
A shaft 22 is integrally fixed to the other end side (opposite to the base end side). A pulley 23 rotatably attached to the shaft 22 allows the base end side of a second handling arm 24 to rotate freely. Attached to. Since the timing belt 27 as a power transmission member is hung between the pulley 23 and the pulley 26, the power of the motor 25 with a speed reducer is transmitted to the shaft 22. In addition, pulley 2
The gear ratio between the pulley 3 and the pulley 26 is set to be 1: 1. Further, a gripping device 29 is integrally fixed to the other end of the second handling arm 24. The gripping device 29 is a so-called robot hand configured to be able to grip a predetermined work, and is not limited to a device having a suction disk as shown in FIG. It may be.

In such a configuration, a motor 25 with a reduction gear as a driving device of the second handling arm 24 is
Since it is provided near the wrist of the first handling arm 21, for example, the rigidity of both handling arms can be set lower than when, for example, the motor 25 with a reduction gear is provided at a connection portion between the two handling arms. effective.

A motor 25 with a speed reducer as a driving device for rotating and driving the second handling arm 24 is provided.
Are controlled in synchronization with the respective drive axes of the multi-axis robot 1. Here, the fact that the motor 25 with the speed reducer is synchronously controlled with each drive shaft of the multi-axis robot 1 means that
This means that the motor 25 with reduction gear is controlled like an additional axis of the arm drive mechanism of the multi-axis robot 1. In the present embodiment, the arm driving mechanism of the multi-axis robot 1 is 6
Since the motor has a shaft configuration, the motor 25 with a reduction gear is used as a seventh axis of the arm drive mechanism of the multi-axis robot 1 by a robot controller (not shown) that controls the arm drive mechanism of the multi-axis robot 1. Is controlled. The advantage of this configuration is that it is not necessary to interlock each drive shaft of the multi-axis robot 1 and the motor 25 with a speed reducer for operating the second handling arm. The second handling arm can be operated even when each arm is operating. And, due to such an advantage, there is an effect that the work transfer time is shorter than in the case where an interlock is taken.

In order to explain the operation of the transfer device configured as described above, as shown in FIG. 1, a so-called transfer device for transferring a work 3 between two press machines 4 and 5 using this transfer device. The transfer between presses is taken as an example. The transfer direction line shown in FIG. 1 refers to a straight line in the moving direction when the gripping device 29 is moved linearly. In this example, the work 3 is transferred from the press machine 4 in the previous process to the press machine 5 in the next process. Since it is assumed to be moved in the shortest distance, both press machines 4, 5
The straight line connecting the respective work loading / unloading positions P1 and P4 is the transport direction line.

First, an operation mode of the above-described transport device will be described with reference to FIGS. A first handling arm 21 an angle theta ₅ formed by the second handling arm 24 to close to 180 ° or 180 °,
In addition, the two handling arms 21 and 24 are set to be parallel to the transport direction line. That is, by extending the two handling arms 21 and 24 in the transport direction,
It is possible to take out the work 3 from the press machine 4 in the previous process installed at a position distant from the installation position of the multi-axis robot 1 and supply the work 3 to the press machine 5 in the next process.

More specifically, when the work 3 is taken out from the press machine 4 in the preceding process, the angle θ ₅ formed between the first handling arm 21 and the second handling arm 24 is reduced, ie, the two handling arms 21 are removed. , 24
By operating each drive shaft of the multi-axis robot 1 while operating the wrist 16 in the direction of the press machine 5 in the next process, the gripping device 29 and the work 3 are moved to the press machine 4 in the previous process. From the work unloading position P1 to a position P2 outside the operation area of the work in a short time. On the other hand, when the gripping device 29 enters the press machine 5 in the next step, the angle θ ₅ formed between the first handling arm 21 and the second handling arm 24 is reversed.
, Ie, two handling arms 2
By extending each of the drive shafts of the multi-axis robot 1 and extending the wrists 16 on the transport direction line in the direction of the press machine 5 in the next process while extending the first and the 24 in a straight line,
The gripping device 29 and the work 3 can be moved in a short time from the position P3 outside the operation area of the press machine 5 to the work carry-in position P4 in the next step.

[0019] In the configuration of this embodiment, the angle theta ₃ between the conveying direction line and the first handling arm 21, while maintaining the angle theta ₄ between the conveying direction line and the second handling arm 24 in the same, first 1 handling arm 21 and 2nd
When the operation is performed so that the angle θ ₅ formed with the handling arm 24 changes, the gripping device 29 and the work 3 gripped by the gripping device 29 move while maintaining the posture with respect to the floor surface 2. In particular, when the length L ₁ of the first handling arm 21 is the same as the length L ₂ of the second handling arm 24, the gripping device 29 and the work 3
Moves in parallel while maintaining the posture with respect to the floor surface 2 as shown in FIG.

Referring to FIG. 1 in detail, first,
In the step of retracting the gripping device 29 that has entered between the upper die and the lower die of the press machine 4 in the previous process, the multi-axis robot 1
And the motor 25 with a speed reducer is operated to move the position of the wrist 16 from the P1 position to the P2 position on the transport direction line, while making an angle θ ₃ between the first handling arm 21 and the transport direction line, and the second handling arm. while maintaining the angle theta ₄ between 24 and conveying direction line the same, by operating the control as a first handling arm 21 forms an angle theta ₅ and second handling arm 24 is reduced, the gripping device 29 Since the gripped work 3 moves in parallel with the floor surface and along the transport direction line, the gripper 29 is quickly moved to the press machine 4 in the preceding process.
Can be moved out of the operation area.

Next, after retreating from the operation area of the press machine 4 in the previous process, it is moved to the vicinity of the press machine 5 in the next process. In this step, while operating the multi-axis robot 1 and the motor 25 with a speed reducer to move the position of the wrist 16 from the position P2 to the position P3, the angle θ ₃ between the first handling arm 21 and the transfer direction line is determined. By controlling the operation so that the angle θ ₅ between the first handling arm 21 and the second handling arm 24 changes while maintaining the same angle θ ₄ between the second handling arm 24 and the transfer direction line. The work 3 gripped by the gripping device 29 moves parallel to the floor surface and along the transport direction line.

Finally, in the next step of moving the gripping device 29 between the upper die and the lower die of the press machine 5, the multi-axis robot 1 and the motor 25 with a speed reducer are operated to change the position of the wrist 16. While moving from the P3 position to the P4 position, the angle θ between the first handling arm 21 and the transport direction line
₃ and the angle θ ₄ between the second handling arm 24 and the transfer direction line, while maintaining the same angle θ ₄ between the first handling arm 21 and the second handling arm 24.
By controlling the operation so that ₅ becomes large, the workpiece 3 gripped by the gripping device 29 moves parallel to the floor surface and along the transport direction line, so that the workpiece 3 is gripped in a short time. The device 29 can be inserted between the upper die and the lower die of the press machine 4 from outside the operation area of the press machine 4 in the previous process.

In the above embodiment, the work 3 is moved along the transport direction line. However, by not operating the motor 25 with the reduction gear, as shown in FIG. In the process of transporting the work 3 from the press machine 4 in the previous process to the press machine 5 in the next process, the work 3 can be turned horizontally by 180 °.

The embodiment of the present invention has been described above. Since the gist of the present invention relates to the configuration of the handling arms 21 and 24 mounted on the wrist 16 and the members attached thereto, the configuration of the multi-axis robot 1 is a vertical multi-joint type as in this embodiment. The invention is not limited thereto, and may be other than a multi-joint structure such as a rectangular coordinate type or a cylindrical coordinate type. The configuration of the wrist 16 is not limited to the three-axis configuration as in the present embodiment, but may be a one-axis configuration or a two-axis configuration.

Further, the pulley 26, the timing belt 2
Alternatively, the power transmission mechanism including the pulley 23 and the pulley 23 may be a gear train, a combination of a gear and a rack, or a combination of a sprocket and a chain.
Alternatively, instead of the motor 25 with reduction gear, the pulley 26, the timing belt 27, and the pulley 23, a screw of a ball screw is fixed to the output shaft of the motor, a nut is fixed to the rack, and the rack is meshed with a gear. May be fixed to the second handling arm.

[0026]

According to the first aspect of the present invention, the gripping device is connected from the tip of the multi-axis robot through two handling arms that are sequentially connected, so that the entire transfer device can be used. As a result, a wide operation range can be secured, and as a result, a sufficient movement range for transferring a work can be secured without increasing the size of the multi-axis robot. Further, when the workpiece is transported linearly, the straight line in the moving direction is referred to as a transport direction line. An angle formed by the first handling arm with respect to the transport direction line and an angle formed by the second handling arm with respect to the transport direction line. It is only necessary to control the multi-axis robot and the driving device so that と becomes equal. Therefore, for example, it is also possible to easily transfer the work linearly from the press machine in the previous process to the press machine in the next process. In addition, by adopting a structure in which two handling arms are sequentially connected, the sliding portion of this portion is compared with a double sliding arm as disclosed in Japanese Patent Application Laid-Open No. 8-141969. The weight can be reduced.

According to the second aspect of the present invention, the driving device is provided at the end of the first handling arm on the front end side of the multi-axis robot, and the driving force of the driving device is transmitted through the power transmission member. 2 It was transmitted to the handling arm. Therefore, the second handling arm is operated by the drive device provided at the end of the first handling arm on the tip side of the multi-axis robot. For example, when the drive device is provided at the connection between the two handling arms, In comparison with the above, the rigidity of both handling arms can be set lower, and vibration at the tool tip due to the lower rigidity can be suppressed.

Further, according to the third aspect of the invention,
The drive unit is controlled synchronously with each drive axis of the multi-axis robot. Therefore, a driving device for rotating and driving the second handling arm is an additional axis of each driving axis of the multi-axis robot (for example, if the multi-axis robot has a six-axis structure,
Axis) is controlled by the control device of the multi-axis robot, so that the second handling arm can be driven to rotate without interlocking even while each drive axis of the multi-axis robot is operating. ,as a result,
The cycle time can be reduced.

[Brief description of the drawings]

FIG. 1 is a plan view illustrating a transport device and an operation of the transport device according to an embodiment of the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a cross-sectional view of the handling arms 21 and 24 according to the embodiment of the present invention.

FIG. 4 is a plan view for explaining the operation of the handling arms 21 and 24 according to the embodiment of the present invention.

FIG. 5 shows a state where the work 3 is transferred to the press machine 5 in the previous process to the press machine 5 in the next process.
It is a top view which shows the operation | movement form of the conveyance apparatus at the time of 80 degree horizontal inversion.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Multi-axis robot 2 Floor 3 Work 4 Press machine (previous process) 5 Press machine (next process) 11 Robot base 12 Revolving trunk 13 Lower arm 14 Auxiliary link 15 Horizontal axis 16 Wrist 21 First handling arm 22 Axis 23 Pulley 24 Second handling arm 25 Motor with reduction gear (drive device) 26 Pulley 27 Timing belt (power transmission member) 29 Gripping device

Claims (3)

[Claims] 1. A multi-axis robot configured such that each axis is driven, stopped, and positioned in a linear or rotational direction at a pre-taught amount and timing, and one end of which is supported by a tip of the multi-axis robot. A first handling arm, a second handling arm having one end rotatably coupled to the other end of the first handling arm, a driving device for rotating and driving the second handling arm, and the second handling arm. A gripping device fixed to the other end of the gripping device, and when a straight line in a moving direction when the gripping device is linearly moved is defined as a transport direction line, an angle formed by the first handling arm with respect to the transport direction line Controlling the multi-axis robot and the driving device such that an angle formed by the second handling arm with respect to a transfer direction line is equal. Conveying apparatus according to claim. 2. The device according to claim 1, wherein the driving device is provided at an end of the first handling arm on the tip side of the multi-axis robot.
The transport device according to claim 1, wherein the driving force of the driving device is transmitted to the second handling arm via a power transmission member. 3. The transfer device according to claim 1, wherein the drive device is controlled in synchronization with each drive shaft of the multi-axis robot.