JPH08216073A - Robot for work carrying-in/carrying-out work - Google Patents

Abstract

PURPOSE: To provide a robot which can simultaneously improve the working efficiency in two kinds of carrying works of carrying work in which a work is not reversed and carrying work in which a work is reversed. CONSTITUTION: By a turning shaft 14, a robot 10 is positioned in a position where a work is carried out of the other work machining machine 1 by the other arm 11 simultaneously when a work is carried in one work machining machine 2 by one arm 12. Therefore, when such positioning is performed in order, carrying work to be performed without reversing a work upside down can be performed with excellent working efficiency. By the turning shaft 14, the robot 10 is positioned in a position where an intermediate stand 4 enters an arm operation interfering area 19. As a result, after a work is placed on the intermediate stand 4 by one arm 11, a work can be gripped by the other arm 12 by reversing it upside down, and a carry in which the work is reversed upside down can be performed with excellent working efficiency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work loading / unloading robot for carrying out a work from one of two work working machines and loading the work into the other machine, and more particularly, to press working. It is suitable to be applied to a line.

[0002]

2. Description of the Related Art As a transfer robot for transferring a work between press machines, there is one disclosed in Japanese Utility Model Publication No. 3-44578.

The transfer robot described in this publication is a robot having two arms arranged between two press machines, and a support shaft having the two arms is rotated by a turning shaft. It

For this reason, after the work carried out from one press machine is gripped by one arm, the work can be carried directly into the other press machine by rotating the support column by the pivot shaft. It will be possible.

As an invention relating to a double-arm robot having two arms of this type, there is one disclosed in Japanese Patent Application No. 4-70046 filed by the present applicant.

In the dual-arm robot described in this application, the dual-arm robot is arranged in front of the press brake, and the work for carrying the work into the press brake is carried out by one arm, and the work is carried out by the press brake. Since the work for unloading the work is performed by the other arm, there is an effect that work efficiency is dramatically improved.

[0007]

However, the above-mentioned actual Kaihei 3
Although the transfer robot disclosed in Japanese Patent No. 44578 can directly transfer the work between the press machines, it is supposed to transfer the work between the arms during the transfer or reverse the work. Absent.

Here, although it is possible for the articulated robot to turn the work upside down while holding the work, a hand such as a vacuum cup type hand that sucks and holds the work surface is used. In this case, it is necessary to avoid placing the work piece on the mold of the press machine with the arm posture reversed so that interference may occur.

Therefore, when using this type of hand, it is necessary to once place the gripped work on the table and perform gripping work again.

However, when the above-mentioned conventional transfer robot is used, there is a region where the arms interfere with each other even if the work held by one arm can be once placed on the work table. Since there is no two arms, the other arm cannot re-grip the work on the work table, so that the same arm must be used to re-grip the work.

As described above, the conventional transfer robot cannot carry out the arm transfer work between the two arms, and can perform the work of reversing and transferring the work efficiently even though it is a dual-arm robot. It was supposed to be impossible.

On the other hand, the dual-arm robot disclosed in the above-mentioned Japanese Patent Application No. 4-70046 is not a robot used for transferring a work between processing machines, but if the press brake is regarded as an intermediate work table, the result is 2 Work transfer between the two arms is performed, and if this is applied to the transfer between the processing machines, it is possible to perform the transfer work for reversing the work with work efficiency.

However, since the conventional dual-arm robot does not plan to directly convey the work between the two processing machines, it does not have a turning axis. For this reason, in order to carry out the transfer work without turning the work upside down, it is necessary to provide an intermediate table for transferring the work between the two arms and carrying out a long distance transfer. However, this takes much time for the delivery, and the work efficiency is greatly impaired.

After all, in the conventional robot having two arms, the work efficiency of the work for carrying the work without turning it upside down and the work efficiency of the work for carrying the work by turning it upside down at the same time. I couldn't be satisfied.

The present invention has been made in view of these circumstances, and an object of the present invention is to make it possible to simultaneously satisfy the work efficiencies of the above-mentioned two types of transfer work while using the same robot. is there.

[0016]

Therefore, in the present invention, 2
A robot having one arm is configured such that the operation areas of the arms interfere with each other, and the robot and an intermediate table for workpiece reversal are arranged between the two workpiece machining machines,
Further, the robot is positioned so that the work can be carried into one work machining machine by one arm and at the same time the work can be carried out from the other work machining machine by the other arm. While rotating, the robot is positioned at a position such that the intermediate table falls within the arm operation interference area, and after one workpiece is placed on the intermediate platform, the other workpiece is placed on the intermediate platform. The robot is provided with a turning axis for turning the robot so that the robot can be turned upside down and grasped.

[0017]

According to this structure, as shown in FIG. 1, the robot 10 is moved by the pivot shaft 14 into the workpiece machining machine 2 by one arm 12, and at the same time the other arm 11 is rotated by the other arm 11. The work is machined to such a position that the work is unloaded from the work processing machine 1.

Therefore, by carrying out such positioning in sequence, the transfer work can be carried out without turning the work upside down.
Work can be done efficiently.

Further, by means of the turning axis 14, the robot 10
However, the intermediate stage 4 is positioned in the arm operation interference region 19. As a result, after the work is placed on the intermediate table 4 by the one arm 11, the work can be turned upside down and grasped by the other arm 12, and the work in which the work is turned upside down can be efficiently operated. Can be done.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a work loading / unloading robot according to the present invention will be described below with reference to the drawings.

FIG. 1 is a top view showing a press tandem line to which the embodiment apparatus is applied.

As shown in the figure, this press line is
A plurality of press machines 1, 2, 3, ... Are arranged and the work (not shown) is sequentially pressed in the right direction of the drawing.

A robot and an intermediate stand are arranged between adjacent press machines. The drawing shows a robot 10 arranged between the press machine 1 and the press machine 2, an intermediate stand 4, and a robot 20 arranged between the press machine 2 and the press machine 3 and an intermediate stand 5. Here, as will be described later, the intermediate bases 4 and 5 are mounts provided to temporarily mount a work in the middle of conveyance and turn it upside down.

Since the robots have the same structure, the robot 10 will be described below.

The robot 10 has two arms 11 and 12.
Is a so-called dual-arm robot having these arms 11, 12, the lowermost retracting carriage 15, a turning shaft 14 provided on the retracting carriage 15, and the turning shaft 14 with respect to the carriage 15. It is composed of a column 13 which is rotated. Arms 11 and 12 are arranged on a column 13.

The evacuation rail 16 is a rail that guides the evacuation carriage 15 and is perpendicular to the direction in which the press machines 1 and 2 face each other and extends upward in the drawing. The rail can be the same as or similar to the rail for rail. Other guide members may be used as long as the carriage 15 can be guided and moved.

Therefore, by moving the carriage 15 along the rails 16 and retracting the robot 10, work such as maintenance of the robot 10 can be efficiently performed.

The intermediate stand 4 is arranged on the extension line of the evacuation rail 16 downward in the drawing.

A hand (for example, a so-called vacuum cup type hand that uses negative pressure) for attaching a work by suction is attached to the tip of each arm 11, 12.

The arms 11 and 12 are arranged on both sides of the support column 13 so that the operation areas 17 and 18 of the arms have an interference area 19, and one arm serves as one horizontal articulated robot. Similar operation is realized.

By rotating the support column 13 by the turning shaft 14, the arms 11 and 12 as a whole can be positioned and moved in an arbitrary direction, and the interference region 19 can be positioned and moved in an arbitrary direction. .

The drawing shows that the extended arms 11 and 12 are
It shows a state in which the press machines 1 and 2 are positioned so as to be in a posture parallel to the facing direction, and the longitudinal direction of the interference region 19 is positioned in a direction perpendicular to the facing direction of the press machines 1 and 2. There is.

Therefore, in such a state where the positioning is done, the one press machine 1 is moved by the one arm 11.
At the same time that the work is unloaded from the press, the work can be loaded into the other press machine 2 by the other arm 12. Further, since the intermediate table 4 is placed in the interference region 19, after the work is placed on the intermediate table 4 by one arm 11, the other arm 12 grips the work so as to be turned upside down. can do.

The turning shaft 14, the arm 11 of the robot 10,
The robot axis for operating 12 is driven and controlled by a robot controller (not shown).

Instead of the robot 10, as shown in FIG.
The robot device 30 shown in (b) may be used.

FIG. 3A is a view showing the upper surface of the robot apparatus 30, and FIG. 3B is a view showing the side surface thereof.

The robot device 30 is shown in FIG.
As shown in (b), two robots 31 and 32, each of which functions as an independent vertical articulated robot, are arranged, and these robots 3 are mounted on a swivel base 35.
0 and 31 are arranged. That is, in the base 33, a drive source 34 for rotating the swivel base 35 about the central axis C as a rotation center as shown by an arrow D is provided.

Therefore, by controlling the drive source 34 to be driven by the robot controller as required, the robots 31 and 32 can be swung together with the swivel base 35, and the arms of the robots can be arbitrarily moved, as in the robot 10. It can be positioned in position and direction.

Further, like the robot 10, since the motion areas 37 and 38 of the robots 31 and 32 have the interference area 39, the interference area 39 is moved to an arbitrary position and direction by the turning. be able to.

Next, with reference to FIG. 3 and FIG. 4, an operation in the case of carrying out the work of carrying the work without turning it upside down will be described. This operation is performed by the robot above the robot controller,
It is realized by compositely controlling a press machine, a carry-in machine, a carry-out machine, etc. described later.

As shown in FIG. 3, a carry-in machine 6 is attached to the press machine 1, and a work is carried into the press machine 1 by the carry-in machine 6. Then, the work machined by the press machine 1 is carried into the press machine 2 by the robot 10 as shown by the arrow, and
The work processed in (2) is carried out by the carry-out machine 7 attached to the press machine 2.

FIG. 4 is a time chart showing the manner of operation, with the vertical axis as the time axis.

In the initial state of FIG. 3, the arm 11 is referred to as the "right arm (right arm)" and the arm 12 is referred to as the "left arm (left arm)" with the lower part of the drawing as the front.

First, the robot is positioned by the swivel shaft 14 so that the robot posture is as shown in FIG. 1 or FIG. 3, and in this posture, the right arm 11 is drive-controlled and the workpiece is pressed from the press machine 1. It is carried out (step 101).

Then, the rotary shaft 14 is driven and the robot 1
The operation of turning 0 by 180 ° is started. Therefore, the right arm 11 holding the work is retracted from the die of the press machine 1, and at the same time, the carry-in machine 6 carries in the work to be processed next onto the die of the press machine 1 (step 102).

Next, the press machine 1 is activated to start the press working of the work (step 103).

Next, since the robot 10 is rotated by 180 °, the work is carried into the press machine 2 by the right arm 11. Further, since the robot 10 has been turned by 180 °, the left arm 12 is
It has been moved to the position where the upper workpiece is gripped. Therefore, the work machined by the press machine 1 can be gripped by the left arm 12 and carried out (step 104). Next, the turning shaft 14 is driven to start the operation of turning the robot 10 by 180 °.
At the same time, the press machine 2 is activated to start press working. At the same time, the work is carried into the press machine 1 by the carry-in machine 6 (step 105).

Then, press working is started in the press machine 1. At the same time, the work machined by the press machine 2 is carried out by the carry-out machine 7 (step 1
06).

Next, since the robot 10 is rotated by 180 °, the work is carried into the press machine 2 by the left arm 12. Further, since the swivel shaft 14 is swung by 180 °, the right arm 11 is now moved to a position where the workpiece on the press machine 1 is gripped. Therefore, the right arm 11 grips the work processed by the press machine 1 and carries it out (step 10).
7).

Next, the turning shaft 14 is driven and the robot 1
The operation of turning 0 by 180 ° is started. At the same time, the press machine 2 is started and the press working is started. At the same time, the work is carried into the press machine 1 by the carry-in machine 6 (step 108).

Then, the press machine 1 is started and the press working is started. At the same time, the work machined by the press machine 2 is carried out by the carry-out machine 7 (step 109).

Next, since the robot 10 has rotated 180 °, the work is carried into the press machine 2 by the right arm 11. Further, since the robot 10 is turned by 180 °, the left arm 12 is moved to a position where the work on the press machine 1 is gripped this time. Therefore, the left arm 12 grips the work processed by the press machine 1 and carries it out (step 11).
0). That is, at step 110, the same process as the process at step 104 is executed.

That is, after step 110, the same processing as step 104 to step 109 is repeatedly executed, and the work loading / unloading work is continuously performed.

Thus, according to the embodiment shown in FIG.
The work loading operation and the work unloading operation are simultaneously performed by using the two arms. Further, since the swivel axis is driven and the arm swivels by 180 °, the work transfer from one press machine to the other press machine is performed quickly.

As a result, the work efficiency of the work loading / unloading work is dramatically improved.

Next, with reference to FIG. 5 and FIG. 6, the operation in the case of performing the work of carrying the work upside down will be described.

As shown in FIG. 5, the system in this case requires the intermediate stand 4 unlike the system of FIG.

FIG. 6 is a time chart showing the manner of operation, with the vertical axis as the time axis.

In the initial state of FIG. 5, the arm 11 is referred to as the "right arm (right arm)" and the arm 12 is referred to as the "left arm (left arm)" with the lower part of the drawing as the front.

First, the robot is positioned by the swivel shaft 14 so that the robot posture is as shown in FIG. 1 or FIG. 5, and in this posture, the right arm 11 is drive-controlled and the workpiece is pressed from the press machine 1. Be shipped. At the same time, the left arm 12 is driven and controlled, the work on the intermediate table 4 is grasped so that the hand 12a of the left arm 12 is located above the work, and the conveyance to the press machine 2 is started (step 201). ).

Next, the work is carried into the press machine 1 by the carry-in machine, and the press machine 1 is activated to start the press working. At the same time, the left arm 12
Finishes loading the work into the press machine 2 (step 202).

Next, the right arm 11 is driven and controlled so that the gripped work is turned upside down during the conveyance to the intermediate table 4. At the same time, the press machine 2 is started and press working is started (step 203).

The right arm 11 mounts the vertically inverted work on the intermediate table 4. At the same time, press machine 2
The left arm 12 that has finished loading the work into the press machine 2
To the front of the intermediate table 4 (step 204).

Next, the right arm 11 which has finished loading the work into the intermediate table 4 is moved to the front of the press machine 1. At the same time, the left arm 12 grips the work on the intermediate table 4 so that the hand 12a of the left arm 12 is located above the work, and starts conveyance to the press machine 2. That is, the work is turned upside down and conveyed. Moreover, since the hand is grasped so as to be located above the work,
There is no problem such as interference when placing in the die of the press machine (step 205).

Next, the work is carried out of the press machine 1 by the right arm 11 (step 206).

Thereafter, similarly, the processes of steps 202 to 206 are repeatedly executed, and the work of vertically inverting the work and conveying it to the press machine 2 is continuously performed.

As described above, according to the embodiment shown in FIG. 6, since the intermediate table is arranged so as to be within the movement interference region of both arms, one arm moves between one press machine and the intermediate table. While the robot is moving, the other arm can be moved between the other press machine and the intermediate table, and the work efficiency of the work reversing and conveying work can be dramatically improved.

Next, an embodiment in which a plurality of intermediate stands are provided between the press machines will be described with reference to FIGS. 7 and 8.

The press line shown in FIG. 7 has almost the same structure as that of FIG. 1. The difference from the structure of FIG. 1 is that two intermediate stands 4A and 4B are provided between the press machines 1 and 2. It is a point. The reason why two intermediate stands are provided in this way is that the changeover of the intermediate stands is unnecessary even when the type of work is changed, and the work efficiency is improved.

That is, as shown in FIG. 8, first, the turning shaft 14 is driven and the robot 10 is positioned in the posture A. Therefore, the movement interference area A ′ of both arms 11 and 12
The intermediate table 4A corresponding to the type of work to be machined is placed in the box (step 301).

Next, in the robot posture A, the work loading / unloading work (steps 201 to 206) described above is sequentially executed, and the work is sequentially processed (step 30).
2).

Next, when a command to change the type of work is input (step 303), the orbiting shaft 14 is driven so that the robot 10 is positioned in the posture B. As a result, the intermediate table 4B corresponding to the type of work to be changed
Enters the arm motion interference area B '(step 30
4).

Then, in the robot posture B, the work loading / unloading work (steps 201 to 206) is sequentially executed, and the work of the changed type is sequentially processed (step 305).

As described above, according to the embodiment shown in FIGS. 7 and 8, even if the type of work is changed, it is not necessary to change the setup of the intermediate table, and the work efficiency is dramatically improved.

In this embodiment, two intermediate stands are provided, but any number of three or more may be provided according to the number of changes.

Further, in all the embodiments described above,
Although the case where it is applied to the line of a press machine is shown, the present invention is not limited to this, of course,
It can be applied to any processing machine line.

[0077]

As described above, according to the present invention,
With the same robot, it is possible to simultaneously improve the work efficiency of two types of transfer work, that is, a transfer work in which the work is not inverted and a transfer work in which the work is inverted.

[Brief description of drawings]

FIG. 1 is a diagram showing a top surface of a press processing line applied to an embodiment of a work loading / unloading robot according to the present invention.

2 (a) and 2 (b) are a top view and a side view of a robot apparatus used in place of the robot shown in FIG.

FIG. 3 is a diagram showing a system configuration in the case where the robot of the embodiment carries out a transfer operation without inverting the work.

FIG. 4 is a time chart showing a state of an operation when carrying work in which a work is not inverted.

FIG. 5 is a diagram showing a system configuration in a case where the robot of the embodiment carries out a transfer work for reversing a work.

FIG. 6 is a time chart showing an operation state when carrying out a work of reversing a work.

FIG. 7 is a diagram showing a system configuration corresponding to a work type change.

FIG. 8 is a flowchart showing a processing procedure for changing the type of work.

[Explanation of symbols]

 1, 2, 3 Press machine 4, 5 Intermediate stand 10, 20 Robot 11, 12 Arm 30 Robot device

Claims (5)

[Claims] 1. A robot having two arms,
The robot and the intermediate table for reversing the work are arranged between the two work machining machines, and the one arm is connected to one of the work machining machines. The robot is rotated so that the robot can be positioned at such a position that the workpiece is unloaded from the other workpiece processing machine by the other arm at the same time when the workpiece is loaded. The robot is positioned so that the intermediate table can be positioned, and after the work is placed on the intermediate table by one arm, the robot is turned upside down by the other arm to grasp the robot. A work loading / unloading robot in which the robot has a turning axis for turning. 2. When performing a work in which the work is not inverted, the swivel shaft is swiveled by 180 °, and the work is carried into one work processing machine by one arm, and at the same time the other work is carried by the other arm. The work loading / unloading robot according to claim 1, wherein positioning is repeatedly performed at a position where the work is unloaded from the processing machine, and loading and unloading operations are alternately performed by one arm. 3. When reversing a work, one arm works between one work processing machine and the intermediate table, while the other arm works with the other work processing machine. The work loading / unloading robot according to claim 1, wherein the two arms are drive-controlled so as to work with the intermediate table. 4. The intermediate table is arranged at a plurality of different positions for different types of workpieces, and the intermediate table corresponding to the type of workpiece to be machined is located at a position within the arm operation interference region. The work loading / unloading robot according to claim 1, wherein the turning axis is drive-controlled so as to position the robot. 5. The work carry-in according to claim 1, wherein the robot is provided with guide moving means for guiding and moving the robot in a direction substantially perpendicular to a direction in which the two work processing machines face each other. -A robot for unloading work.