JP2000127076A - Suction head - Google Patents

Abstract

PROBLEM TO BE SOLVED: To favorably suck a work of a complicated and fine shape and transport the work to an intricate place. SOLUTION: This suction head comprises plural sucking means provided on the head body 1, bar-like slid parts 56 provided on the respective sucking means 55 and supported to be freely moved in the direction of the shaft center independently of the other sucking means, sucking parts 57 densely arranged adjacent to each other at the tips of the slide parts 56, air sucking means 56, 60, 62, 63 connected to the respective sucking parts 57, and a suction on-off control means 65 capable of individually on-off controlling the sucking operation of air for the respective sucking parts 57.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction head used when a plate-like work is suctioned and conveyed by laser processing equipment or the like.

[0002]

2. Description of the Related Art Conventionally, in a laser processing facility or the like, a suction head using a vacuum pad or the like has been used when suctioning and transporting a plate-shaped work or the like.

[0003]

However, conventional suction heads often fail to properly suction a work having a complicated and fine shape. Also, when trying to transport a sucked work to a complicated place, such as just beside a pile of works already stacked, there is a problem that the suction head interferes with the work pile and cannot be transported well. Was.

In view of the above circumstances, an object of the present invention is to provide a suction head capable of suitably sucking a work having a complicated and fine shape, and capable of suitably conveying the work to a complicated place. And

[0005]

That is, according to a first aspect of the present invention, there is provided a head body (51), the head body (51).
And a plurality of suction means (55) provided in each of the suction means (55). The suction means (55) is provided in the axial direction with respect to the head main body (51) in a form independent of other suction means (55). A rod-shaped slide portion (56) movably supported, and suction portions (5) densely arranged at the tip of each of the slide portions (56) so as to be adjacent to each other in a non-suction state of the object (70).
7) The air suction means (56, 60, 62, 63) connected to each of the suction sections (57) and the air suction means (56, 60, 62, 63) are provided. 5
And 7) a suction intermittent control means (65) capable of individually controlling on / off of the air suction operation for (7).

According to a second aspect of the present invention, in the suction head according to the first aspect, the rod-shaped slide portion (56) has a hollow tubular shape in which an air flow path (56c) is formed. The air flow path (56c) is formed.
Constitutes a part of the air suction means (56, 60, 62, 63) for sucking air from the suction portions (57).

According to a third aspect of the present invention, in the suction head according to the first aspect, each of the suction portions (57) is supported rotatably in all directions with respect to the rod-shaped slide portion (56). Have been.

According to a fourth aspect of the present invention, in the suction head according to the first aspect, the head body (51) is provided.
Is provided with a moving means (52) for the head body (51).

According to a fifth aspect of the present invention, in the suction head according to the first aspect, each of the suction portions (57) covers a corresponding one of the suction portions (57).
9), and a tapered portion (59a) is formed on the head body (51) side of the cover means (59).

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, the suction head has the suction portions which are adjacent to each other and densely arranged.
Since the air suction means is connected to each of the suction sections, the suction of the work can be performed independently by each suction section. Therefore, even if the suction target is a complicated and fine work, and even if some suction portions of the suction head protrude from a fine portion of the work, they are located without protruding on the work. Since the work can be effectively sucked through the remaining suction part,
The work can be adsorbed without any problem. That is, according to the present invention, even a work having a complicated and fine shape can be appropriately sucked. Also, when trying to transport a sucked work to a complicated place such as just beside a pile of already stacked works, the suction means that is not sucking the work may cause the work to be moved to another work. Although it may hit an obstacle, the slide portion of each suction means is movable independently of the other suction means, so the suction means hitting the obstacle stops moving in the hit state. On the other hand, the suction unit that is sucking the work can be moved without any trouble, and can be transported to the position where the sucked work should be transported without any problem. Thus, in the present invention,
The work can be suitably transported to a complicated place. Further, in the present invention, for example, when some of the suction means protrude from the work, only the suction means protruding from the work is subjected to the suction operation of the air to the suction part of the suction means via the suction intermittent control means. The switch is turned off to stop the suction state at the suction section. Thereby, it is possible to avoid consuming wasteful energy by operating even the suction unit that cannot generate an effective suction force to 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.

In the second aspect of the present invention, in addition to the effect of the first aspect, the slide portion also serves as a part of the air suction means, so that the members can be saved correspondingly, which is advantageous. In addition, since the suction section is not provided with another pipe or the like other than the slide section, it is convenient that such a pipe does not interfere with the work or the like.

In the third aspect of the present invention, even for a work (not shown) having irregularities formed by, for example, press working, each suction portion is appropriately rotated with respect to the irregular surface. Thus, the alignment can be performed, and an effective suction force can be generated between the suction portion and the work. Therefore, in addition to the effect of the first aspect, it is possible to adsorb a work having irregularities, which is convenient.

In the fourth aspect of the present invention, by moving the head body by the moving means, the suction head can be moved to a suitable suction position on the work in accordance with the shape of the complicated work. Therefore, in addition to the effect of the first aspect, it is possible to adsorb a more complicated work, which is advantageous.

According to a fifth aspect of the present invention, in addition to the effect of the first aspect, it is possible to prevent the plurality of suction portions from hitting each other and being damaged by the cover means.
Further, it is possible to prevent the external dust and the like from being carelessly sucked when the suction force is generated in the suction unit. Further, after the positions of the adjacent suction portions are shifted from each other in the axial direction, by moving the head main body side, one of the shifted suction portions is moved via the slide portion,
In the case where the positions of the adsorbing portions adjacent to each other are aligned again, the end side of one of the cover means hits the tapered portion of the other cover means and slides along this tapered shape, so that the cover means are caught by each other. Is advantageously prevented.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view schematically showing the entire laser processing equipment, FIG. 2 is a side sectional view showing a palletizing robot, FIG. 3 is a view as seen from an arrow I in FIG. 2, and FIG. 4 is a view as seen from an arrow II in FIG. 5 is a perspective view showing a suspension frame and a head unit, etc., FIG. 6 is a side view (partially sectional view) showing one of the head units in detail, and FIG. 7 is FIG. of
III view (partial sectional view), FIG. 8 is a top view of the head unit (partial sectional view), FIG. 9 is a plan view showing only the head supporting portion of the head frame, and FIG. 10 is a suction head. FIG. 11 is a perspective view showing a state in which a processed work is being sucked by a suction head assembly, and FIG.
2 is a perspective view showing a state in which the transported processed work is delivered to a pallet; FIG. 13 is a side view showing a state in which the processed work is being sucked by a suction head assembly; and FIG. FIG. 15 is a side view showing a state in which the processed workpiece is transferred to a pallet.
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 extends along the arm 47 in the directions of arrows P and Q (horizontal directions) in the drawing, which is the direction in which the arm 47 extends, and is adsorbed via the slide rails 50, 50. A head 58 is provided. The suction head 58 connects the head frame 51 to the slide rail 5 described above.
It is slidable along arrows 0 and 50 in the directions of arrows P and Q. (Note that the slide rail 50 is omitted in FIG. 5 for simplicity, and the head frame 51 and the like are shown in a simplified rectangular parallelepiped form. There). The head frame 51 is provided with a slide drive device 52 including a motor 52a and a gear 52b rotated by the motor 52a, and the arm 47 is provided with a rack 4 along the arm 47.
7a is provided. 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 sets 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 sets 55 supported by one head support 53 constitute a suction head assembly 550 as one unit. Each suction set 55 has a vertically extending rod-shaped tube 56, which is penetrated by the head support 53 via the bush 53a as described above. That is, the tube body 56 is slidable with respect to the head support portion 53 in the vertical direction (the directions of arrows E and F). 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). (For simplicity, the pad protective member 59 is shown by a two-dot chain line only for a part of the suction set 55 in FIG. 11) 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 connected to an air flow path 56c (FIG. 6) inside the tube 56 via the lower end of the tube 56, and the upper end side of the tube 56 is connected via a joint 56b. A tube 60 made of a telescopic spiral tube or the like (in each drawing, shown by a straight line such as a dashed line for simplicity) is connected so that the air flow path 56a communicates with the inside of the tube 60.

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 set 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 a plurality of suction sets 55 configured as described above is provided with these pads 5 as shown in FIG.
7 are closely arranged adjacent to each other 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 53 supporting the plurality of suction sets 55 is lowered.
However, each of the suction sets 55 is movable upward relative to the head support portion 53 in such a manner that the tube body 56 slides, so that the head support portion 53 is relatively movable with respect to each of the suction sets 55. It is movable downward.
As a result, the plurality of suction sets 55 are
In this state, even if these suction sets 55 stay with respect to the processed workpiece 70, the head support 53 side smoothly descends without applying an unintended force to these suction sets 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. If the downward drive of the second frame 29 side with respect to the first frame 25 side 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 sets 55 is further lowered.
However, as described above, since the head support portion 53 is movable downward relative to each suction set 55, each suction set 55 hits the work 70 or the like and stops without moving further downward. The head support 53 can be moved down without being hindered by these suction sets 55 while the suction set 55
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 set 55 to which the work 70 is not sucked (the two suction sets 55 on the left side of the paper 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 set 55 (the two suction sets 55 on the left side in FIG.
Abuts the upper surface of the However, if the workpiece 70 continues to descend, the suction set 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 set 55 in one suction head assembly 550 is independently movable up and down relative to the head support 53. Therefore, the suction sets 55 in contact with the work peak 700 do not hinder the descent of the head support portion 53 side, and conversely, these suction sets 55
Do not receive careless force from the side. Then, the suction set 55 sucking the work 70 is lowered 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 in each suction set 55 prevents the plurality of pads 57 from hitting each other in the suction head assembly 550 to be damaged, and also generates a suction force in 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 set 55 in the suction head assembly 550 is shifted in the vertical direction, the head support 53 is moved upward with respect to the head support 53 by raising the head support 53 side. The suction set 55 is lowered by its own weight (a structure in which the suction set 55 is forcibly lowered by using a spring or the like), and all the suction sets 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 sets 55 provided adjacent to each other, and the suction force is generated independently by the pads 57 of each suction set 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. Therefore, even a fine and complicated work having a width smaller than that of the suction head assembly 550 can be freely performed. It is convenient because it can be adsorbed.

In the above-described example, in the suction set 55, the tube 56 and the pad 57 are fixedly connected. However, another example is a universal joint (not shown) between the tube 56 and the pad 57. 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 set 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 a 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.

In each of the above-described examples, the suction head is applied to laser processing equipment. However, the suction head according to the present invention is not limited to laser processing equipment, but may be applied to other types of machine tool equipment. Is also possible.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing the entire laser processing equipment.

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]

 51 head body (head frame) 52 moving means (slide driving device) 55 suction means (suction set) 56 slide part (tube) 56a air flow path 57 suction part (pad) 58: suction head 59: cover means (pad protection member) 59a: tapered portion 60: air suction means (tube) 62: air suction means (atmospheric pressure transmission member) 63: air suction means (vacuum pump) 65: suction intermittent control means (valve) 70: target object (work)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuyuki Toda No. 1 in Oguchi-machi, Oguchi-machi, Niwa-gun, Aichi Prefecture Inside the headquarters of Yamazaki Mazak Co., Ltd. (72) Inventor Akiyoshi Ochiai O-machi, Oguchi-machi, Niwa-gun, Aichi No. 1 F-term in Yamazaki Mazak Co., Ltd. head office factory (reference) 3F060 AA01 DA03 DA08 DA09 DA10 EB12 FA05 FA11 GB02 GB22 GB33 3F061 AA01 CA01 CB03 CB05 CB05 CC11 CC00

Claims (5)

[Claims] 1. A head body, a plurality of suction means provided on the head body, a plurality of suction means provided on each of the suction means, and moved in an axial direction with respect to the head body independently of other suction means. A rod-shaped slide portion freely supported, suction portions densely arranged at a tip of each of the slide portions, adjacent to each other in a non-sucking state of an object, air suction means connected to each of the suction portions, A suction intermittent control means provided in the air suction means and capable of individually controlling on / off of a suction operation of air to each suction portion. 2. The air suction means for sucking air from each of the suction parts, wherein the rod-shaped slide part is formed in a hollow tubular shape with an air flow path formed therein. 2. The suction head according to claim 1, wherein the suction head forms a part of the suction head. 3. The suction head according to claim 1, wherein each of the suction portions is rotatably supported in all directions with respect to the rod-shaped slide portion. 4. A suction head according to claim 1, wherein said head body is provided with a moving means for said head body. 5. The apparatus according to claim 1, wherein each of the suction portions has a cover means for covering the suction portion, and a tapered portion is formed on the head body side of the cover means. Suction head.