JP2000127075A - Work suction transport apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To favorably suction transport even a work of a complicated and fine shape. SOLUTION: A head support frame 29 is elevatably provided on machine frames 21, 25 provided to be freely driven to move in the horizontal direction, and the head support frame 29 is provided with one or more suction means sets 550 to be freely moved and positioned in horizontal two-dimensional directions through horizontal moving mechanisms 33, 35, 36, 47, 49, 51, 52. The suction means set 550 has plural suction means 55 provided with sucking parts 57 adjacent to each other, and suction driving means are respectively connected to the suction means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work sucking and conveying apparatus used for sucking and conveying a work such as a plate in a laser processing facility or the like.

[0002]

2. Description of the Related Art Conventionally, in laser processing equipment and the like, a suction transfer device that suctions and transfers a plate-shaped work using a vacuum pad has been used.

[0003]

However, the work after processing has various shapes, and especially in the case of a work having a complicated shape, the position of the vacuum pad cannot be properly adjusted to the shape of the work. In some cases, suction conveyance became difficult. In the case of a work having a small portion, the vacuum pad may protrude from the work, and an effective suction force may not be generated, so that suction conveyance may be difficult.

[0004] In view of the above circumstances, an object of the present invention is to provide a work sucking and conveying apparatus capable of suitably sucking and conveying even a work having a complicated and fine shape.

[0005]

That is, a first aspect of the present invention comprises a body (21, 25) provided to be movable at least in a horizontal direction, and the body (21, 25) is provided.
A head support pedestal (29) is provided on the head support pedestal (29) so as to be movable up and down.
0) to the horizontal moving mechanism (33, 35, 36, 47, 4).
9, 51, 52) so as to be movable and positionable in a horizontal two-dimensional direction, and the suction means assembly (550) includes a plurality of suction means (55) provided with suction parts (57) adjacent to each other. ), And a suction driving means (60, 62, 63, 65) is connected to each of the suction means (55).

According to a second aspect of the present invention, there is provided a workpiece suction and transfer apparatus (20) according to the first aspect, wherein a plurality of the suction means aggregates (550) are provided. The body (550) is provided with the horizontal moving mechanism (33, 35, 36, 47, 49, 51, 52).
, And are provided so as to be movable and positionable in an independent manner in a horizontal two-dimensional direction.

According to a third aspect of the present invention, in the workpiece suction and transfer apparatus (20) according to the first aspect, each of the suction means (55) of the suction means assembly (550) is vertically connected to each other. It is movably supported in an independent form.

According to a fourth aspect of the present invention, in the workpiece suction and transfer device (20) according to the first aspect, the suction driving means (60, 62, 63, 65) is provided for each suction means (55). Control means (6) for intermittently controlling the suction state of
5).

According to a fifth aspect of the present invention, there is provided the work suction / conveying device (20) according to the first aspect, wherein the horizontal moving mechanism (33, 35, 36, 47, 49, 5) is provided.
1, 52) are a frame (35) rotatably positioned on the head support base (29), and an arm (4) rotatably positioned on the frame (35).
7) a head mounting portion (51) for mounting the suction means assembly (550), which is provided on the arm (47) so as to be movable and positioned in the horizontal direction.

Note that the numbers in parentheses are for convenience of indicating corresponding elements in the drawings, and therefore, the present description is not limited to the descriptions on the drawings.

[0011]

According to the first aspect of the present invention, at least one suction means assembly is provided so as to be movable and positioned in a horizontal two-dimensional direction via a horizontal movement mechanism. Even if the work has a complicated shape, the work can be sucked and transported without any problem by moving and positioning the suction means assembly in a horizontal two-dimensional direction according to the shape of the work. Further, the suction means assembly has a plurality of suction means provided with suction portions adjacent to each other, and suction drive means is connected to each of the suction means. In other words, since the suction of the work can be performed independently by the individual suction means, for example, the work to be suctioned and conveyed is a work having a fine portion, and some suction parts of the suction means assembly are Even if the work protrudes from the fine part, the work can be effectively sucked through the remaining suction part located without protruding on the work, so that the work can be suctioned and transported without any problem. . As described above, the work suction and transfer device according to the present invention can appropriately suction and transfer a work having a complicated and fine shape.

Further, in the second aspect of the present invention, the plurality of suction means assemblies are provided so as to be movable and positionable independently in a horizontal two-dimensional direction. In addition, since a plurality of suction means aggregates can be positioned in various arrangement patterns, suction conveyance of a work having a more complicated shape can be advantageously performed.

According to the third aspect of the present invention, in addition to the effect of the first aspect, an effect is exhibited when the sucked work is lowered in a narrow place and transferred to a pallet or the like. In other words, in this case, the suction means that does not suck the work may hit another obstacle during the descent, but since the suction means can move up and down independently of each other, they hit the obstacle. This is advantageous because the sucking means stops descending in a hit state, while the sucking means sucking the work can be moved down without any trouble, and the sucked work can be transferred to the pallet or the like without any problem. Thereby, the end portion of the plate-shaped work which is close to another work or a part of the sorting table can be sucked.

In the fourth aspect of the present invention, for example, when some of the suction portions of the suction means assembly protrude from the work, only the suction control of the suction portions protruding from the work is performed. The suction state of the suction means is cut off via the means. Thus, in addition to the effect of the first aspect, it is possible to avoid consuming wasteful energy by operating even the suction unit that cannot generate an effective suction force on the work, thereby realizing energy saving. Further, it is advantageous because it is possible to eliminate the inconvenience that the suction means sucks and sucks something other than the work such as dust.

According to a fifth aspect of the present invention, each suction means assembly rotationally positions the frame with respect to the head support base, rotationally positions the arm with respect to the frame, and sets the head with respect to the arm. By moving and positioning the mounting portion in the horizontal direction, the mounting portion can be moved and positioned in a horizontal two-dimensional direction, and thus can be positioned at various positions in a horizontal plane. This is advantageous in that, in addition to the effect of the first aspect, suction conveyance can be performed even for a work having a more complicated shape.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view schematically showing the entirety of a laser processing equipment employing a palletizing robot, which is an example of a workpiece suction and transfer apparatus according to the present invention, FIG. 2 is a side sectional view showing the palletizing robot, and FIG. I
FIG. 4 is a perspective view showing a suspension frame and a head unit, etc., and FIG. 6 is a detailed view of one of the head units. FIG. 7 is a side view (partial sectional view), FIG.
FIG. 8 is a view (partial sectional view) of the head unit viewed from above,
9 is a plan view showing only the head support portion of the head frame, FIG. 10 is a view of the suction head assembly viewed from below, and FIG.
Is a perspective view showing a state in which the processed work is being sucked by the suction head assembly, FIG. 12 is a perspective view showing a state in which the conveyed processed work is transferred to a pallet,
FIG. 13 is a side view showing a state in which a processed work is to be sucked by a suction head assembly, FIG. 14 is a side view showing a state in which a conveyed processed work is transferred to a pallet, and FIG. FIG. 16 to FIG. 22 are schematic plan views showing examples of positioning patterns of four suction head assemblies.

As shown in FIG. 1, the laser processing equipment 1
It has a well-known material stocker 2 capable of stacking and storing a large number of plate-shaped material works 70A and appropriately taking out the material work 70A to be processed from among the stacked and stored many material works 70A. On the side of the stocker 2 (right side in FIG. 1), two known laser processing machines 3 capable of cutting the above-described material work 70A using laser light are provided (laser processing machines). The number of 3 may not be two). Two laser machines 3,
Further on the side (right side in FIG. 1) of FIG. 3, there are provided two known sorting tables 5 on which a processed workpiece 70 cut by the laser processing machine 3 can be placed. The number of sorting tables 5 need not be two). In addition, these stocker 2, laser processing machines 3, 3, sorting table 5,
Reference numerals 5 are arranged in a line in a predetermined horizontal transport direction (directions of arrows A and B in the figure).

These material stocker 2, laser processing machine 3,
3. Above the sorters 5, 5, guide rails 6 extending in the transport direction (the directions of arrows A and B in the figure) are provided with these material stockers 2, laser machines 3, 3, sorters 5, 5, and so on.
A transfer robot 7 is provided on the guide rail 6 so as to be movable along the guide rail 6 in the transfer direction (the directions of arrows A and B). The transfer robot 7 is a known robot, and transfers the workpiece 70A to the stocker 2 via a vacuum pad or the like.
From the laser processing machine 3 to each sorting table 5 via a fork or the like.

On the other hand, on the side of the two sorting tables 5 and 5 (on the right side of the sheet of FIG. 1, and therefore on the side of arrow B in FIG. 1), the known work stocker 9 is moved in the conveying direction (direction of arrows A and B). (In the present embodiment, the number is four, but the number is not limited to four). On each work stocker 9, a plurality of processed works 7
0 are stacked and placed, and a large number of processed workpieces 70
A plate-shaped pallet 10 on which work piles 700 formed by laminating pallets can be placed side by side is detachably installed. As shown in FIG. 1, a pair of parallel guide rails 11, 11 extending in the transport direction (the directions of arrows A and B in the figure) are provided above the sorters 5, 5 and the plurality of work stockers 9. Are installed in such a manner that the above-mentioned sorting tables 5, 5 and the plurality of work stockers 9 are connected to each other via appropriate supporting members 11a, 11a. A palletizing robot 20 is provided on these guide rails 11 and 11.
Is provided.

The palletizing robot 20 has a suspension frame 21 suspended on the guide rails 11, 11 as shown in FIGS. 2 to 4 (however, the guide rails 11, 11 are omitted in FIG. 4). The suspension frame 21 is movable along the guide rails 11 in the transport direction (the directions of arrows A and B). The suspension frame 21 is provided with a traveling drive unit 22 including a motor 22a and gears 22b, 22b, etc., which are driven to rotate by the motor 22a.
1a is a rack 1 along the guide rails 11, 11;
1b and 11b are provided. Each gear 22b of the traveling drive device 22 meshes with each rack 11b.

The suspension frame 21 is provided with a pair of parallel moving rails 23, 23 in the transport direction (the directions of arrows A and B).
Are extended in the directions of arrows C and D in the figure, which is a horizontal direction perpendicular to. A first frame 25 is suspended from these moving rails 23, 23, and the first frame 25 is moved along the moving rails 23, 23 by arrows C,
It is movable in the D direction. As shown in FIG. 4, a motor 26a and the motor 26a
A moving drive device 26 including a gear 26b and the like driven to rotate by the
Is provided with a rack 23a along the moving rail 23. The gear 26a of the movement driving device 26 meshes with the rack 23a.

The first frame 25 is formed with a plurality of guide holes 25a penetrating vertically as shown in FIG. 2 (four in this embodiment as shown in FIG. 3). As shown in FIGS. 2 and 3, a vertically extending rod 27 is slidably inserted into each guide hole 25a. A second frame 29 is provided at the lower end of these rods 27.
Are connected, so that the second frame 29 is connected to the first
Vertical direction with respect to the frame 25 (directions of arrows E and F in the figure)
It is freely movable. Note that the first frame 25 and the second
As shown in FIGS. 2 to 4, a balancer 28 (pneumatic cylinder device 2 in this embodiment) is provided between the frames 29.
) Is provided, and the balancer 28
The load on the frame 29 side is supported by the first frame 25. As shown in FIG. 2 or FIG. 3, the second frame 29 is provided with a rod-shaped screw member 30 (two in this embodiment) extending upward and penetrating through the first frame 25. The first frame 25 includes a nut member 31.
(Two in this embodiment) are provided in the first frame 25 so as to be fixed only in the vertical direction. These nut members 31 are screwed into the respective screw members 30 so as to form a ball screw device.

Further, the first frame 25 includes a motor 32a.
, And a nut drive device 32 is provided which is capable of rotating and driving each of the nut members 31 by the power from the motor 32a. Further, the second frame 29 has a shaft 33 extending in the vertical direction so as to protrude downward (in the direction of arrow F) from the second frame 29 in the directions of arrows R1 and R2 around the rotation axis CT1 extending in the vertical direction. A shaft is rotatably provided, and a suspension frame 35 is suspended from the lower end of the shaft 33. Note that a rotation drive device 36 is provided between the second frame 29 and the shaft 33. The rotation drive device 36
As shown in FIG. 2, a motor 36a provided on the second frame 29 side and a pulley 36b, which is rotationally driven by a belt or the like by the motor 36a, are fixed to the shaft 33. I have. And pulley 36b
The shaft 33 can be driven to rotate in the directions of arrows R1 and R2 by the rotation of.

As shown in FIGS. 2 and 5, the suspension frame 35 of this embodiment is basically a substantially horizontal plate,
Its planar shape is substantially cross-shaped. Hanging frame 35
Each end 3 corresponding to the vicinity of the tip of the four cross-shaped arms
5a is provided with a head unit 45 (the shape of the suspension frame 35 is arbitrary, and the number of head units 45 may be any number as long as it is one or more). Each of the head units 45 is, as shown in FIGS.
It has a bracket 46 fixed to the lower side of the end portion 35a. The bracket 46 has a horizontal and substantially straight arm 47 centered on a rotation axis CT2 extending vertically (arrows E and F directions). Are pivotably mounted in the directions of arrows S and T.
A drive motor 49 is provided on the bracket 46, and an output shaft 49a side of the drive motor 49 is arranged concentrically with the rotation axis CT2 and connected to the arm 47.

The arm 47 has sliding rails 50, 5
0 is provided along the arm 47 in the directions of arrows P and Q (horizontal direction) shown in the drawing, which is the direction in which the arm 47 extends. 51 are provided so as to be slidable in the directions of arrows P and Q along the slide rails 50, 50 (the slide rail 50 is omitted in FIG. 5 for simplicity, and the head frame 51 and the like are also simplified). In the shape of a rectangular parallelepiped). A motor 52 is provided on the head frame 51.
a and a gear 52 driven to rotate by the motor 52a
b, etc., a slide drive device 52 is provided.
The arm 47 is provided with a rack 47 a along the arm 47. The gear 52b of the slide drive device 52 meshes with the rack 47a.

As shown in FIGS. 6, 7, and 9, the head frame 51 has a horizontal plate-shaped head support portion 53, and the head support portion 53 extends vertically. A plurality of suction heads 55 via the bush 53a and the like
(In the present embodiment, the number is 19, but the number is not limited to 19 if the number is plural.). The plurality of suction heads 55 supported by one head support 53 constitute a suction head assembly 550 as one unit. Each of the suction heads 55 has a bar-shaped tube 56 extending vertically, and this tube 56 is penetrated by the head support 53 via the bush 53a as described above. That is, the tube body 56 is movable in the vertical direction (the directions of arrows E and F) with respect to the head support portion 53. Near the upper end of the tube 56, there is provided a stopper 56a of a size that cannot pass through the bushing 53a and the like. The stopper 56a is locked on the head support 53 and the tube 56 It is supported by the part 53.

The lower end of the tube 56 is shown in FIGS.
As shown in FIG. 11 and FIG. 11, a pad 57 which is a shade-shaped vacuum pad is provided facing downward (in the direction of arrow F). (In FIG. 11, for simplicity, the pad protection member 59 is shown by a two-dot chain line only for some of the suction heads 55) so as to cover and protect the side periphery of the pad 57. ing. Pad protection member 59
The upper part is a tapered portion 59a having a tapered shape tapering upward. The inside of the pad 57 is connected and communicated with the inside of the tubular body 56 via the lower end of the tubular body 56, and the upper end side of the tubular body 56 is formed of a tube 60 made of a retractable spiral tube or the like via a joint 56b. (In each drawing, for the sake of simplicity, it is indicated by a straight line such as a one-dot chain line).
And the inside of the tube 60 are connected.

As shown in FIGS. 6 to 8, a horizontal plate-like tube support 61 is provided above the head support 53 so as to be vertically opposed to the head support 53, as shown in FIGS. The end of the tube 60 of each suction head 55 is connected to and supported by the tube support 61 via an appropriate joint 61a (omitted in FIG. 7). Thereby, the entanglement of many tubes 60 is prevented. Each tube 60 has the joint 61 described above.
a pressure transmitting member 6 composed of another tube or the like via a
2 are connected to each other.
Is connected to a vacuum pump 63 (the pressure transmitting member 62 and the vacuum pump 63 are shown only in FIG. 6). As shown in FIG. 6, a valve 65 that can open and close the inside of the air pressure transmitting member 62 is provided in the middle of each air pressure transmitting member 62, and each valve 65 is operated by a predetermined valve driving device (not shown) or the like. It can be driven selectively. The suction head assembly 550 composed of the plurality of suction heads 55 configured as described above is provided with these pads 5 as shown in FIG.
7 are closely arranged in a circular contour.

Since the laser processing equipment 1 and the palletizing robot 20 are configured as described above, the processing and sorting of the workpieces in the laser processing equipment 1 proceeds as follows. That is, as shown in FIG. 1, in the material stocker 2, material works 70A that have been stacked and stored are sequentially taken out.
The removed workpiece 70A is sequentially transported by the transport robot 7 to each laser processing machine 3. Each of the laser processing machines 3 sequentially cuts the material workpiece 70A that has been sequentially transported, and the processed workpiece 70 that has been processed by each of the laser processing machines 3 is sequentially transported to each of the sorting tables 5 by the transport robot 7. On the other hand, the processed work 70 conveyed to each sorting table 5 is sequentially conveyed onto each pallet 10 of each work stocker 9 via the palletizing robot 20 in a procedure described in detail below.

That is, the palletizing robot 20 operates the motor 22a in the traveling driving device 22 provided on the suspension frame 21 to rotate the gears 22b and 22b, thereby rotating the gears 22b and 22b and the rack 11b meshed with them. The suspension frame 21 is driven to move in the direction of arrow A along the guide rails 11 via the 11b, and is positioned at a desired position by the brake function of the traveling drive device 22. This makes the suspension frame 2
1 was positioned at a position on the sorting table 5 corresponding to the processed work 70 to be transported from now on (a position aligned with the arrow A and B directions above the processed work 70).

Next, the motor 26a is operated by the movement driving device 26 provided on the first frame 25 to operate the gear 26.
b, the first frame 25 is moved relative to the suspension frame 21 in the directions indicated by the arrows C and D with respect to the suspension frame 21 via the gears 26b and the rack 23a meshed with the gears 26b. The device 26 is positioned at a desired position by the brake function. As a result, the first frame 25 was positioned on the sorting table 5 at a position almost directly above the processed work 70 to be conveyed from now on.

Next, each suction head assembly 550 of the four head units 45 is first placed horizontally above the processed work 70 so as to conform to the shape of the target processed work 70 as shown in FIG. Move and position in two-dimensional directions. This movement positioning is executed by performing (a) rotation / positioning of the suspension frame 35, (b) turning / positioning of the arm 47, and (c) sliding movement / positioning of the head frame 51, which will be described below.

(A) Rotation and positioning of the suspension frame 35. First, the rotation of the pulley 36b by rotating the motor 36a in the rotation driving device 36 between the second frame 29 and the shaft 33 causes the shaft 33 to rotate around the rotation axis CT1 with respect to the second frame 29. It is driven to rotate in the directions of arrows R1 and R2 in the figure. In this manner, the rotation of the shaft 33 causes the suspension frame 35 to be driven to rotate relative to the second frame 29 in the directions indicated by the arrows R1 and R2. When the suspension frame 35 rotates to a desired position, the suspension frame 35 is stopped and positioned by the brake function of the rotation driving device 36.

(B) Turning and positioning of the arm 47. This is performed in each head unit 45 individually. That is, in each head unit 45, the bracket 4
6 is operated to drive the output motor 49a.
, The arm 47 is turned around the rotation axis CT2 in the directions of arrows S and T in the figure. In this way, arm 4
When the arm 7 turns to a desired position, the arm 47 is stopped and positioned by the brake function of the drive motor 49.

(C) Slide movement and positioning of the head frame 51. This is also performed individually in each head unit 45. That is, in each head unit 45, the motor 5 of the slide driving device 52 provided on the head frame 51 is provided.
2a is operated to rotate the gear 52b, and the gear 5b is driven.
2b and the head frame 5 via the rack 47a
1 is slid along the slide rails 50 in the directions of arrows P and Q. Thus, the head frame 51
Is moved to a desired position, the head frame 51 is stopped and positioned by the brake function of the driving device 52.

By performing the above-described steps (a), (b) and (c), respectively, or (a), (b) and (c)
By performing any one or two of the above, and when performing (b) and (c), at least one of the four
By performing (b) and (c) for one head unit 45, each suction head assembly 550 of the four head units 45 is processed on the stationary second frame 29 side, and is thus processed on the sorting table 5. For completed work 70,
A processed work 7 which is moved and positioned in a horizontal two-dimensional direction and is about to be transported as shown in FIG. 5, for example.
Positioning was performed in a shape conforming to the shape of 0. Thereafter, the motor 32a is driven by the nut driving device 32 of the first frame 25.
Is operated to rotate each nut member 31 by the motor 32a, thereby driving each screw member 30 into which each nut member 31 is screwed down. Thus, the second frame 29 side is guided through the plurality of rods 27 and the guide holes 25a into which the rods 27 are inserted.
Downward with respect to the first frame 25 side (arrow F direction in the figure)
Is driven to move.

The driving of the movement of the second frame 29 with respect to the first frame 25 is further continued, so that the suction head assemblies 550 of the four head units 45 are lowered, and as shown in FIG. Each pad 5
The operation of the nut driving device 32 is stopped in a state where the workpiece 7 is in contact with the processed workpiece 70 on the sorting table 5, and the movement of the second frame 29 with respect to the first frame 25 is stopped. In this case, the lowering of the second frame 29 side with respect to the first frame 25 side may be continued slightly after each pad 57 of the suction head assembly 550 comes into contact with the processed work 70. For example, when the lowering of the second frame 29 side with respect to the first frame 25 side after each pad 57 abuts on the processed workpiece 70, FIG. 13 (the pad protecting member 59 and the like are omitted in FIG. 13). As shown, the head support portion 53 supporting the plurality of suction heads 55 is lowered.
However, each of the suction heads 55 is movable upward relative to the head support portion 53 in such a manner that the tube body 56 slides. It is movable downward.
As a result, the plurality of suction heads 55 are
Even if the suction heads 55 stay on the processed workpiece 70 in this state, the head support 53 side smoothly descends without applying careless force to the suction heads 55. Thus, the first frame 2
Even if the amount of movement of the second frame 29 with respect to the fifth side is not particularly accurate, the operation of bringing each pad 57 of the suction head assembly 550 into contact with the processed work 70 can be performed accurately and safely.

As described above, since the suction head assemblies 550 of the four head units 45 are positioned in accordance with the shape of the target processed work 70 as shown in FIG. 5, for example, When the suction head assembly 550 is lowered to the processed work 70, a large number of pads 57 of the suction head assembly 550 are brought into a state in which the pads 57 are preferably in contact with the processed work 70 as shown in FIG. became.

By the way, as shown in FIG. 15, the four head units 45 of this embodiment have a rotation axis CT2 which is the center of rotation of each arm 47 and a rotation axis of the axis 33 on which the suspension frame 35 is suspended. The arms 47 are arranged on the same circumference at intervals of 90 degrees with respect to CT1, and the length of each arm 47 is slightly shorter than the distance between the rotation axes CT1 and CT2. Further, the suction head assembly 550 of each arm 47
From the vicinity of the rotation axis CT2 of the arm 47.
Are movable to the vicinity of the tip of the suction head assembly 550, the ranges RF1 to RF4 in which the suction head assemblies 550 can be positioned in a horizontal two-dimensional direction (within a horizontal plane) are defined by the respective rotation axes C.
Based on T2, the range becomes, for example, a hatched area in FIG. 15 (a two-dot chain line in FIG. 15 indicates a locus of movement of the arm 47 and the suction head assembly 550). In addition, as described above, the entire head unit 45 is rotated about the rotation axis CT1 by the rotation movement about the rotation axis CT1 on the suspension frame 35 side with respect to the second frame 29, as described above. Based on CT1,
A range RG in which each suction head assembly 550 can be positioned in a horizontal two-dimensional direction (within a horizontal plane) is, for example, as shown in FIG. 15, a range within a circle centered on the rotation axis CT1 (FIG. 15).
Is indicated by a dashed line). That is, regardless of the shape of the processed work 70 to be conveyed, as long as it is within the range RG below the suspension frame 35, the positioning of each suction head assembly 550 with respect to the processed work 70 is appropriate. Can be done.

For example, as shown in FIG. 16 (FIG. 5) and FIG. 18, the suction head assembly 550 of these arms 47 is moved near the rotation axis CT1 in such a manner that the tips of the arms 47 are gathered near the rotation axis CT1. By positioning, a small U-shaped work 70 near the rotation axis CT1 (FIG. 1)
6) The positioning of the suction head assembly 550 with respect to the circular work 70 (FIG. 18) near the rotation axis CT1 is realized. Also, for example, as shown in FIG. 17, by positioning one suction head assembly 550 (the suction head assembly 550 on the lower side of the paper surface in the drawing) closer to the rotation axis CT1 from the state of FIG. The positioning of the suction head assembly 550 with respect to the small triangular workpiece near CT1 is realized.

As shown in FIGS. 19 and 21, FIG.
From one arm 47 (the lower arm 4 in the drawing).
7) is turned and moved away from the rotation axis CT1, and an arm 47 different from the arm 47 (the arm 4 on the right side of the paper in FIG.
The suction head assembly 550 of 7) is moved along the arm 47 and away from the rotation axis CT1 so that the suction head for the work 70 having a long and thin complicated shape (a shape with a long thin protrusion) in the left-right direction of the drawing. The positioning of the assembly 550 is realized.

As shown in FIG. 20, two arms 47 (arms 47, 47 on the lower side and on the right side of the drawing in FIG. 19) are turned and moved away from the rotation axis CT1 as compared with the state shown in FIG. Thus, the positioning of the suction head assembly 550 with respect to the work 70 having a more complicated shape than the shape described in FIG. Also, as shown in FIG. 22, two arms 47 (arms 47, 47 on the lower side and on the right side of the paper in FIG. 18) are pivotally moved away from the state of FIG. Thus, the positioning of the suction head assembly 550 with respect to the work 70 having a large and complicated shape on the left and right of the drawing sheet is realized. Although not shown, the four suction head assemblies 550 can be positioned in various patterns to achieve positioning for a wide variety of complicated shapes.

As described above, after positioning the four suction head assemblies 550 on the processed work 70 as shown in FIG. 5, the work 70 is suctioned. In advance, the vacuum pump 63
(FIG. 6) is activated, and the valves 65 of the respective air pressure transmitting members 62 are closed. Then, in order to perform suction of the work 70, the valves 65 of the air pressure transmitting members 62 are driven to open. Thereby, the pressure inside each pad 57 connected to the vacuum pump 63 via the air pressure transmitting member 62, the tube 60, and the tube body 56 is reduced, and a suction force is generated. Since each pad 57 is in contact with the target processed work 70 as shown in FIGS.
Then, a suction force is generated, and the work 70 is sucked. At this time, as shown in FIG.
The pads 57 that are completely located on the work 70 (the pads 57 that are indicated by a pattern in the drawing) and the pads 57 that protrude from the work 70
(A pad 57 that is completely out of the work 70 or a part of the pad 57 is separated from the work 70 and has no pattern in the drawing) may be included. That is, since each pad 57 generates a suction force independently of each other,
In the pad 57 protruding from the work 70, the work 7
Although the suction force for zero is not effectively generated, regardless of this, in the pad 57 completely located on the work 70, the airtightness is maintained between the pad 57 and the work 70, and the suction force is effectively generated. . Therefore, the suction head assembly 55
Even if not all the pads 57 are completely on the work 70, it is possible to obtain a suction force necessary for securely sucking the work 70, so that a work having a width smaller than the suction head assembly 550 or a fine and complicated work can be obtained. This is advantageous because the suction force can be effectively generated even for a work having a different shape and the work can be sucked without any problem. When the work is to be sucked, the valve 65 is driven in the air pressure transmitting member 62 corresponding to the pad 57 protruding from the work 70 to close the work. As a result, unnecessary suction force is not applied to the pad 57 that cannot generate an effective suction force with the work 70, thereby saving energy. In addition, the pad 57 protruding from the work 70 can avoid inconveniences such as adsorbing a work other than the work 70 for the purpose of suction, such as the sorting table 5 and other works 70, and sucking dust. It is.

After adsorbing the processed workpiece 70 as described above, the nut drive device 32 drives the second frame 29 side to move upward (in the direction of arrow E in the drawing) with respect to the first frame 25 side to adsorb. The processed work 70 is raised to a predetermined height. Next, the palletizing robot 20 is moved to the desired position (the work stocker 9 to which the sucked processed work 70 is to be delivered) by moving the suspension frame 21 along the guide rails 11 and 11 in the direction of arrow B by the traveling drive device 22. At a position aligned with the pallet 10 in the directions of arrows A and B).

Next, the first frame 25 side is driven to move in the directions of arrows C and D along the moving rail 23 with respect to the suspension frame 21 by the moving driving device 26 to move the sucked processed work 70 to a desired position. (The position almost directly above the position on the pallet 10 to which the processed work 70 is to be delivered) to stop and position the first frame 25 side. Further, the shaft 33 is driven to rotate in the directions indicated by arrows R1 and R2 around the rotation axis CT1 with respect to the second frame 29 by the rotation driving device 36, and the hanging frame 35 side is indicated by arrows R1 and R2 in the drawing.
By rotating the workpiece 70 in the direction, the direction of the processed workpiece 70 being sucked is adjusted to a desired direction.

Next, the second work piece 29 is moved downward by the nut drive device 32 with respect to the first frame 25 side (in the direction of arrow F in the figure), and the sucked processed work 70 is placed on the pallet 10. Let go down. Further, the second frame 29 side is driven to move downward with respect to the first frame 25 side to further lower the sucked workpiece 70, and FIG. 12 (in FIG. 12, for simplicity, the palletizing robot 20 side holds the sucking work 70). Only the head assembly 550 and the simplified head frame 51 are shown) or the work 70 is positioned at a predetermined position on the pallet 10 as shown in FIG. 14 (the pad protection member 59 and the like are omitted in FIG. 14). (In the figure, it is on the work pile 700 already stacked and placed, but may be on the surface of the pallet 10). After the placement, the valves 65 of the air pressure transmitting members 62 are closed, the suction force between each pad 57 and the work 70 is released, and the suction of the work 70 is released. As a result, the work 70 sucked and conveyed is delivered while being placed on the work mountain 700 on the pallet 10.

At this time, the processed work 7
0 is placed on the pallet 10 side.
The downward movement driving of the second frame 29 side with respect to the side may be continued to some extent. When the downward movement of the second frame 29 with respect to the first frame 25 is continued after the processed work 70 is placed on the pallet 10 side, FIG. As shown in the figure (the two at the center of the sheet), the head support 53 supporting the plurality of suction heads 55 is further lowered.
However, as described above, since the head support portion 53 is movable downward relative to each of the suction heads 55, each of the suction heads 55 hits the workpiece 70 or the like and stops without moving any further downward. The head support 53 can be lowered without being hindered by these suction heads 55 while the suction head 55 is in the state of being held.
It is not necessary to receive careless force by 3 etc. In other words, even if the amount of movement of the second frame 29 with respect to the first frame 25 is not particularly accurate, the placement and delivery of the processed workpiece 70 that has been sucked can be performed appropriately, which is advantageous. Normally, a plurality of works 70 are placed on the
Work pile 70 already formed
The mounting position (height level) of the work 70 to be mounted thereon differs depending on the height of 0. However, in the palletizing robot 20 of this example, even if the amount of movement of the second frame 29 with respect to the first frame 25 is not particularly accurate as described above, the sucked work 70 is placed at the predetermined mounting position (height). Level), so that, for example, even if the amount of movement of the work 70 in the vertical direction at the time of descent is always kept constant, the work 70 can be properly transferred at different height levels depending on each case. I can do it. Thereby, the control of the amount of movement in the up-down direction is simplified, which is convenient.

When the processed work 70 is placed and delivered, a large number of works must be sorted by efficiently using the limited space on the pallet 10 as shown in FIGS. 12 and 14, for example. Then, the workpiece 70 conveyed in the form of forming the workpiece mountain 700 is placed and delivered next to the existing workpiece mountain 700. In this example, another work mountain 700 already existing is located immediately below the suction head 55 that does not suck the work 70 (the two left suction heads 55 in FIG. 14).
However, there is a position higher than the mounting position (height level) where the sucked work 70 is to be mounted. Therefore, when the suctioned work 70 is lowered, first, the suction head 55 (the two suction heads 55 on the left side of the paper surface in FIG.
Abuts the upper surface of the However, if the workpiece 70 continues to descend, the suction head 55 that has contacted the workpiece
Remains in a state of contact, and slides upward relative to the head support portion 53. This is because each suction head 55 in one suction head assembly 550 is independently movable up and down relative to the head support 53. Therefore, the suction heads 55 abutting on the workpiece peak 700 do not hinder the descent of the head support portion 53 side.
Do not receive careless force from the side. Then, the suction head 55 sucking the work 70 descends without any trouble, and the work 7
0 can be placed at a predetermined placement position and delivered. The transfer of the work 70 can be suitably performed even in such a narrow place.

Incidentally, the pad protecting member 59 of each suction head 55 prevents the plurality of pads 57 from hitting each other in the suction head assembly 550 to be damaged, and generates a suction force on the pads 57. This function prevents inadvertent suction of external dust and the like when in operation. Further, as shown in FIG. 14, after the position of each suction head 55 in the suction head assembly 550 is shifted in the vertical direction, the head support portion 53 is moved upward with respect to the head support portion 53 by raising the head support portion 53 side. The suction heads 55 are lowered by their own weight (a structure in which the suction heads 55 are forcibly lowered using a spring or the like), and all the suction heads 55 are aligned at the same height as shown in FIG. Here, the pad protection members 59 of the plurality of pads 57 adjacent to each other have the tapered portion 59a on the upper side, so that the adjacent pad protection members 59 are shifted to the same height again after being shifted vertically. When returning, the lower end side of the pad protection member 59 descending from above hits the tapered portion 59a of the adjacent pad protection member 59 below, and slides down along this tapered shape. Thereby, the pad protection member 59,
59 is advantageous because the snagging between them is prevented.

Thereafter, in the same procedure as described above, the palletizing robot 20 is moved in the direction of arrow A to the sorting table 5 on which the workpiece to be next conveyed is placed.
Arrow C of the first frame 25 with respect to the suspension frame 21,
Movement / positioning in the direction D and (a) the suspension frame 3
The four suction head assemblies 550 are aligned with the target processed workpiece 70 on the sorting table 5 by rotating / positioning 5, (b) turning / positioning the arm 47, and (c) sliding / positioning the head frame 51. Positioning, 1st
By lowering the second frame 29 side with respect to the frame 25, a plurality of pads 5 of each suction pad aggregate 550 are formed.
7 is brought into contact with a target work, the work is sucked by these pads 57, and the second frame 29 side is raised with respect to the first frame 25 to palletize the robot 20.
To the work stocker 9 in the direction of arrow B,
Arrow C of the first frame 25 with respect to the suspension frame 21,
The work sucked and conveyed by the movement / positioning in the D direction and the rotation / positioning on the side of the suspension frame 35 is adjusted to the position where the work stocker 9 is to be placed on the pallet 10, and the first frame 25 is adjusted. The second frame 2
By lowering the 9 side, the sucked work is placed at the placement position, and the suction by the pad 57 is released to complete the transfer. The processed workpieces 70 are sequentially sucked and conveyed, placed on the pallets 10 of the respective work stockers 9, and transferred.

As described above, in the palletizing robot 20 of this embodiment, (a) rotation of the suspension frame 35
Positioning, (b) swing / positioning of arm 47, (c)
By the sliding movement and positioning of the head frame 51,
Since the plurality of suction head assemblies 550 are each provided so as to be movable and positioned in a horizontal two-dimensional direction, each suction head assembly 550 can be appropriately positioned even for a work having a complicated shape, and the work can be positioned without any problem. Can be sucked and transported.
Further, in each suction head assembly 550, the pads 57 are composed of a plurality of suction heads 55 provided adjacent to each other, and the suction force is generated independently by the pads 57 of each suction head 55. Even if some of the pads 57 of the assembly 550 protrude from the work, the remaining pads 57 can appropriately suck the work, so that, for example, even a fine and complicated work having a smaller width than the suction head assembly 550 can be freely used. It is convenient because it can be adsorbed.

In the above-described example, in the suction head 55, the tube 56 and the pad 57 are fixedly connected. However, as another example, a universal joint (not shown) between the tube 56 and the pad 57 is provided. The pad 57 may be rotatable with respect to the pipe 56 in all directions (for example, directions of arrows M1, M2, M3, and M4 shown in the right corner of FIG. 11). Thereby, for example, even a work (not shown) having irregularities formed by press working or the like,
By rotating each pad 57 appropriately with respect to the uneven surface, an effective suction force can be generated between the pad 57 and the work, and the work having the unevenness can be generated. Can be conveyed by suction.

In the above-described embodiment, the suction head assembly 550 includes the shaft 33, the suspension frame 35, the rotation driving device 36, the arm 47, the driving motor 49, and the head frame 5.
1. It can be moved and positioned in a horizontal two-dimensional direction via a horizontal moving mechanism including a slide driving device 52 and the like, but the horizontal moving mechanism can have various other configurations. For example, it is also possible to provide an arm having a bendable joint at a plurality of locations on the second frame 29 or the like, and to install the suction head assembly 550 on the distal end side of this arm.

In the above-described embodiment, the tube 56 in the suction head 55 is a member for connecting and supporting the pad 57 so as to be movable up and down with respect to the head support 53, and the vacuum is applied to the pad 57. Although it was also a suction means for transmitting the reduced pressure from the pump 63 side, as another example, instead of the tube 56, a rod-shaped slide member not serving as the suction means was adopted, and a pad 57 connected to the slide member was provided. Alternatively, a suction means such as a tube connected to the vacuum pump 63 may be directly connected.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing an entire laser processing facility employing a palletizing robot which is an example of a workpiece suction and transfer apparatus according to the present invention.

FIG. 2 is a side sectional view showing a palletizing robot.

FIG. 3 is a view taken in the direction of the arrow I in FIG. 2;

FIG. 4 is a view (partial cross-sectional view) as viewed in the direction of the arrow II in FIG. 2;

FIG. 5 is a perspective view showing a suspension frame, a head unit, and the like.

FIG. 6 is a side view (partially sectional view) showing one of the head units in detail.

FIG. 7 is a view as viewed in the direction of the arrow III in FIG. 6 (partial sectional view).

FIG. 8 is a top view of the head unit (partial sectional view).
It is.

FIG. 9 is a plan view showing only a head supporting portion of the head frame.

FIG. 10 is a view of the suction head assembly viewed from below.

FIG. 11 is a perspective view showing a state in which a processed work is being sucked by a suction head assembly.

FIG. 12 is a perspective view showing a state where a processed work that has been conveyed is being transferred to a pallet.

FIG. 13 is a side view showing a state in which a processed work is to be sucked by the suction head assembly.

FIG. 14 is a side view showing a state where a processed work that has been conveyed is being transferred to a pallet.

FIG. 15 is a schematic plan view showing a positionable range of four suction head assemblies.

FIG. 16 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

FIG. 17 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

FIG. 18 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

FIG. 19 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

FIG. 20 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

FIG. 21 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

FIG. 22 is a schematic plan view showing an example of a positioning pattern of four suction head assemblies.

[Explanation of symbols]

Reference numeral 20: Work suction conveyance device (palletizing robot) 21: Machine body (suspension frame) 25 ... Machine body (first frame) 29 ... Head support frame (second frame) 33 ... Horizontal movement mechanism (axis) 35 ... Horizontal moving mechanism, frame (suspended frame) 36 Horizontal moving mechanism (rotary driving device) 47 Horizontal moving mechanism, arm 49 Arm horizontal moving mechanism (drive motor) 51 ... Horizontal moving mechanism, head mounting section ((head frame) 52... Horizontal moving mechanism (slide driving device) 55... Suction means (suction head) 57... Suction section (pad) 60. Tube) 62 Suction driving means (atmospheric pressure transmitting member) 63 Suction driving means (vacuum pump) 65 Suction driving means, suction control means (valve) 550 ... adsorption means assembly (suction head aggregate)

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Kazuyuki Toda 1st small boarding, Oguchi-cho, Niwa-gun, Aichi Prefecture Inside Yamazaki Mazak Co., Ltd. (72) Inventor Akiyoshi Ochiai Large boarding, Oguchi-cho, Niwa-gun, Aichi No. 1 Yamazaki Mazak Co., Ltd. Headquarters factory F-term (reference) 3F061 AA01 CA01 CB03 CB05 CB11 CC00 DB04

Claims (5)

[Claims] 1. An apparatus having a body provided so as to be movable at least in a horizontal direction, a head support frame being provided on the body so as to be movable up and down, and one or more suction means aggregates being horizontally moved on the head support frame. The suction means assembly is provided so as to be movable and positionable in a horizontal two-dimensional direction via a mechanism. The suction means assembly has a plurality of suction means provided with suction parts adjacent to each other. Is connected to the workpiece suction transfer device. 2. A plurality of suction means aggregates are provided, and the plurality of suction means aggregates can be moved and positioned independently in a horizontal two-dimensional direction via the horizontal moving mechanism. The work suction and transfer device according to claim 1, wherein the work suction and transfer device is provided. 3. The work suction and transfer apparatus according to claim 1, wherein each of the suction means of the suction means assembly is movably supported in a vertically independent manner. 4. The work suction / transport apparatus according to claim 1, wherein said suction drive means has suction control means for intermittently controlling a suction state of each suction means. 5. The horizontal movement mechanism includes: a frame provided on the head support base so as to be rotatable; an arm provided on the frame so as to be rotatable; The work suction and transfer device according to claim 1, further comprising a head mounting unit for mounting the suction unit assembly.