JP2006130518A - Conveying apparatus, conveying robot and press line - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying apparatus, a conveying robot and a press line by which the attitude of an object to be conveyed is freely changeable and the conveying speed of the object to be conveyed is elevated. <P>SOLUTION: In the case an obstacle such as a cam die 3f is installed on a press 3, the object W to be conveyed can not be conveyed because the object W to be conveyed is interfered with the cam die 3f when the object W to be conveyed is conveyed in the same attitude. Thus, first, by making an arm part 9 separately slid with a sliding/driving motor and advancing the arm part 9 in the B<SB>1</SB>direction, the object W to be conveyed is held with a clamping part 8 in the press 3. After that, a guiding part 11 is rotated in the A direction in one with the arm parts 9 by rotating a driving shaft 5m with a T-shaft driving motor of the conveying robot 5 and also the object W to be conveyed is rotated by separately rotating a clamping part 8 with a rotational driving motor. As the result, because the attitude of the object W to be conveyed is changed, the interference of the object W to be conveyed with the cam die 3f is avoided. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a transport device, a transport robot, and a press line that transports a transport target object from the previous process to the next process and presses the transport target object by a plurality of press machines. About.

  A so-called tandem press line is known in which a plurality of press machines are installed side by side, and several processes are performed by several press machines while conveying an object to be conveyed by a conveying device. In such a tandem press line, an object to be conveyed is directly conveyed from a press machine in the previous process to a press machine in the next process by an articulated robot apparatus having a conveyance device on the wrist axis (final axis).

  A conventional rotate hand type transfer device (hereinafter referred to as prior art 1) is connected to the wrist axis of a transfer robot and rotates in a horizontal plane, and is supported at the tip of the arm unit and moves a transfer object forward. A clamp part that is held by a press machine in the process and opened by a press machine in a subsequent process and a winding transmission mechanism part that rotates the clamp part with respect to the arm part are provided (for example, see Patent Document 1). In this prior art 1, a drive transmission mechanism that is wound by a drive sprocket that rotates integrally with the wrist axis of the transfer robot, a driven sprocket that rotates the clamp, a belt wound around the drive sprocket and the driven sprocket, and the like. Is configured. In such prior art 1, the driven sprocket is rotated in synchronization with the wrist axis of the transfer robot to rotate the clamp portion, and when the transfer object is transferred from the press machine in the previous process to the press machine in the next process, The conveyance object is turned at an arbitrary angle.

  A conventional parallel link hand-type transfer device (hereinafter referred to as Prior Art 2) is connected to the wrist axis of a transfer robot and rotates in a horizontal plane, and is supported at the tip of the arm unit and transfers a transfer object. A clamp portion that is held by a pre-press machine and opened by a post-process press machine, and a parallel crank mechanism that rotates the clamp portion with respect to the arm portion (see, for example, Patent Document 2). In this prior art 2, a parallel crank mechanism portion is constituted by four link members, and the posture of the conveyance object becomes constant during conveyance of the conveyance object from the press machine in the previous process to the press machine in the next process. Thus, the crank part is rotated by the parallel link mechanism part.

  A conventional slide-type transfer device (hereinafter referred to as “Prior Art 3”) is connected to a wrist axis of a transfer robot and rotates in a horizontal plane, a slide portion that slides along the arm, and a fixed to the slide portion. And a clamp part that holds the object to be conveyed by a press machine in a previous process and opens it by a press machine in a subsequent process, and a slide drive motor that drives the slide part (for example, see Patent Document 3). . In this prior art 3, when the arm part rotates in the press machine in the previous process, the slide part advances and retreats in the press machine in the previous process, the clamp part holds the object to be conveyed, and the arm part in the press machine in the next process. When it rotates, the slide part advances and retreats in the press machine of the next process, and the clamp part releases the conveyance object. In such prior art 3, the line speed is improved by increasing the moving speed of the clamp part in the press machine.

  A conventional jackknife type transfer device (hereinafter referred to as Prior Art 4) is connected to a wrist axis of a transfer robot and rotates in a horizontal plane, and is rotatable at the tip of the first arm portion. A connected second arm portion, a clamp portion that is rotatably supported at the tip of the second arm portion, holds the object to be transported by a press machine in a previous process, and opens it by a press machine in a subsequent process; An interlocking portion that rotates the clamp portion relative to the second arm portion in conjunction with the rotation of the second arm relative to the first arm portion (see, for example, Patent Document 4). In this prior art 4, the second arm part is rotated in the press machine to hold and release the object to be conveyed in the clamp part, and the center of the press machine in the pre-process and the center of the press machine in the post-process are set. It is transported along the connecting straight line (hereinafter referred to as a line center) without changing the posture of the transport object.

Japanese Unexamined Patent Publication No. 7-299774

Japanese Patent No. 2867703

Japanese Patent Laid-Open No. 9-290391

JP 2001-30190 A

  In the prior art 1, since it is necessary to arrange the arm part on a line connecting the point where the object is held and released and the rotation center of the transfer robot, the range in which the direction of the transfer object can be changed is the movable range of the transfer robot. There was a problem that was restricted within. In the prior art 1, the transfer robot rotates the arm unit in the press machine in the previous process and the transfer unit holds the object to be transferred, and the transfer robot rotates the arm unit in the press machine in the next process. Since the clamp part releases the object, there has been a problem that the rotation angle of the transfer robot increases and the transfer time becomes longer. Furthermore, in the prior art 1, when the object to be conveyed is conveyed from the press machine in the previous process to the press machine in the next process, the trajectory drawn by the object to be conveyed becomes an arc shape, so that the turning angle becomes large and the conveyance speed is slow. There was a problem.

  In the prior art 2, in addition to the problems of the prior art 1, the rotation angle is within a predetermined angle range due to the structure of the parallel link mechanism, and there is a problem that the restriction on the rotation angle becomes large.

  In the prior art 3, when the clamp unit holds and releases the object to be conveyed, it is necessary to slide the slide unit on the line center, and there is a problem that the operation is restricted. Moreover, in the prior art 3, since the attitude | position of a conveyance target object rotates 180 degrees when conveying from the press machine of a pre-process to the press machine of a next process, the metal mold | die with which it attaches to the press machine of a pre-process, and a next process There was a problem that the direction of the mold to be mounted on the press machine had to be changed.

  In the prior art 4, the clamp unit rotates in accordance with the rotation angles of the first and second arms and the conveyance object rotates, so that the posture of the conveyance object is restricted to the rotation angles of the first and second arm parts. There was a problem of being done. Further, in the prior art 4, there is a problem that when the clamp unit holds and releases the object to be conveyed, it is necessary to match the rotation angles of the first and second arms on the line center, and there is a restriction in operation. It was.

  An object of the present invention is to provide a transfer device, a transfer robot, and a press line that can freely change the posture of the transfer object and can improve the transfer speed of the transfer object.

The present invention solves the above-mentioned problems by the solving means described below.
In addition, although the code | symbol corresponding to embodiment of this invention is attached | subjected and demonstrated, it is not limited to this embodiment.
The invention of claim 1 is a transfer device for transferring the object to be transferred (W) from the previous step (3) to the next step (4), and is rotatably supported on the drive shaft (5 m) of the transfer robot (5). Arm unit (9), slide drive unit (14) for individually sliding the arm unit with respect to the drive shaft, supported by the arm unit and holding the transport object in the previous step, It is a conveying apparatus (7) provided with the clamp part (8) released in a next process, and the rotation drive part (13) which rotates the said clamp part separately with respect to the said arm part.

  According to a second aspect of the present invention, in the transport device according to the first aspect, the slide driving unit slides the arm unit individually based on a command from a control device (6) for controlling the operation of the transport robot, The rotation driving unit is a transport device that individually rotates the clamp unit based on a command from the control device.

  According to a third aspect of the present invention, in the conveyance device according to the first or second aspect, the rotation driving unit performs the conveyance when the conveyance object is held in the previous process and released in the next process. In the conveying device, the arm unit is individually rotated so that the posture of the object changes.

  According to a fourth aspect of the present invention, in the conveyance device according to any one of the first to third aspects, the rotation driving unit holds the conveyance object in the previous step and releases it in the next step. When carrying out, it is a conveying apparatus characterized by rotating the said arm part separately so that this conveyance target object may maintain the same attitude | position.

  Invention of Claim 5 is a conveyance robot which conveys a conveyance target object (W) from the previous process (3) to the next process (4), Comprising: Any one of Claim 1- Claim 4 WHEREIN: A transfer robot (5) including a transfer device (7).

  Invention of Claim 6 is a press line which conveys conveyance object (W) from the previous process to the next process, and presses this conveyance object by a plurality of press machines (3, 4), A press line (1) comprising the transfer robot (5) described in 1.

  According to this invention, the posture of the conveyance object can be freely changed, and the conveyance speed of the conveyance object can be improved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a plan view showing a state in which a transfer robot equipped with a transfer apparatus according to an embodiment of the present invention holds a transfer object in a previous process. FIG. 2 is a front view showing a state in which a transfer robot equipped with a transfer apparatus according to an embodiment of the present invention holds a transfer object. FIG. 3 is a front view showing a state in which the arm portion of the transport apparatus according to the embodiment of the present invention is slid. 4 is a cross-sectional view showing a state cut along line IV-IV in FIG. FIG. 5 is a block diagram of a transfer robot including the transfer apparatus according to the embodiment of the present invention.

  The conveyance object W shown in FIGS. 1 to 3 is a workpiece (processing object) that is sequentially pressed by the press machines 3 and 4. The object to be conveyed W is processed by the press machine 3 in the previous process, and is then transferred from the press machine 3 to the press machine 4 in the next process by the transfer robot 5 and is pressed by the press machine 4.

  A press line 1 shown in FIG. 1 is a line for transporting a transport target W from a pre-process to a post-process and pressing the transport target W by a plurality of press machines 3 and 4. The press line 1 is, for example, a tandem press line that manufactures a final processed product by sequentially performing press processing while transporting the transport target W.

  A die 2 shown in FIG. 2 is a press working tool that is detachably attached to a press machine 3 and includes a lower die 2a and an upper die 2b. The press machines 3 and 4 shown in FIG. 1 are apparatuses that press the conveyance object W, and are straight side presses having a frame shape as shown in FIGS. 1 and 2. The press machines 3 and 4 have the same structure. The press machine 3 will be mainly described below, and the parts on the press machine 4 side corresponding to the parts on the press machine 3 side are denoted by the same reference numerals and detailed. The detailed explanation is omitted. The press machine 3 includes a bolster 3a for detachably mounting the lower mold 2a, a bed 3b for fixing the bolster 3a, a slide 3c for detachably mounting the upper mold 2b, and a reciprocating drive of the slide 3c in the vertical direction. A crown 3d that houses a drive mechanism that performs this operation, four columns 3e that are installed between the bed 3b and the crown 3d and that guide the slide 3c to reciprocate up and down, and this is linked to the reciprocating motion of the slide 3c. There is provided a cam die 3f that is driven in a direction intersecting with the operation direction of the slide 3c to make the workpiece W a variety of processes such as punching, edge cutting, and flange bending.

  The transfer robot 5 shown in FIG. 1 is an articulated robot that transfers the transfer object W from the press machine 3 in the previous process to the press machine 4 in the next process. As shown in FIGS. 1, 2 and 5, the transfer robot 5 is supported on a base 5a installed on the floor, and is rotatably supported on the base 5a, and rotates about the S axis (vertical axis). A base 5b that rotates, an S-axis drive motor 5c that rotationally drives the base 5b, a first arm 5d that rotates around the L axis (horizontal axis) and drives in the front-rear direction, and the first arm 5d An L-axis drive motor 5e that rotates and a second arm portion 5f that rotates about a U-axis (horizontal axis) parallel to the L-axis, and a U-axis drive motor 5g that rotates the second arm portion 5f. A third arm portion 5h that rotates about the R axis (rotating shaft) extending in the length direction of the second arm portion 5f, a R axis drive motor 5i that rotationally drives the third arm portion 5h, It is orthogonal to the length direction of 3 arms 5h A wrist portion 5j that rotates about an axis (rotation axis), a B-axis drive motor 5k that rotates the wrist shaft 5j, and a drive shaft that rotates about a T-axis (rotation axis) perpendicular to the B-axis (Wrist axis) 5m and a T-axis drive motor 5n for rotating the drive shaft 5m are provided. As shown in FIG. 1, the transfer robot 5 is disposed substantially in the middle of the press machine 3 in the previous process and the press machine 4 in the subsequent process, and is shown in FIG. 5 and the control device 6 shown in FIGS. 1 to 3. A transport device 7 is provided.

  The control device 6 shown in FIG. 5 is a device that controls the operation of the transfer robot 5 and the transfer device 7. For example, as shown in FIG. 5, the control device 6 includes an S-axis drive motor 5c, an L-axis drive motor 5e, a U-axis drive motor 5g, an R-axis drive motor 5i, a B-axis drive motor 5k, and a T-axis drive motor 5n. Drive control is performed, and the rotation drive motor 13 and the slide drive motor 14 are drive-controlled. The control device 6 is based on an operation timing signal output from a control device (not shown) that controls the operation of the press machines 3 and 4, so that the transfer robot 5 and the transfer device are synchronized with the operations of the press machines 3 and 4. 7 is controlled. Similarly to the S-axis drive motor 5c on the transport robot 5 side, the control device 6 performs various operations such as slide, rotation, stop, and positioning according to the taught amount and operation timing. Commands the motor 14.

  The conveyance apparatus 7 shown in FIGS. 1-3 is an apparatus which conveys the conveyance target object W from the previous process to the next process. The conveying device 7 includes a clamp unit 8, an arm unit 9, a rotation mechanism unit 10, a guide unit 11, a slide mechanism unit 12, a rotation drive motor 13 illustrated in FIG. A drive motor 14 and the like are provided. As shown in FIG. 1, the transport device 7 advances and retreats in the press machine 3 to hold the transport target W, transports the transport target W from the press machine 3 to the press machine 4, and the press machine 4 It advances and retreats to release this conveyance object W. The transport device 7 is a rotary slide type handling device having a function of rotating the clamp unit 8 by the rotary drive motor 13 and a function of sliding the arm unit 9 by the slide drive motor 14. As shown in FIGS. 1 to 3, the transfer device 7 is detachably attached to the drive shaft 5 m of the transfer robot 5.

  The clamp part 8 shown in FIGS. 1 to 3 is a device that is rotatably supported by the arm part 9 and holds the conveyance object W in the previous process and releases it in the next process. As shown in FIGS. 1 to 3, the clamp unit 8 includes a suction member 8 a and a support member 8 b, and constitutes a holding device that holds the conveyance target W. The adsorption member 8a is a cup-shaped member that adsorbs and releases the conveyance object W by air pressure or magnetic attraction force, and a plurality of adsorption members 8a are arranged at intervals as shown in FIG. The support member 8b is a member that supports the adsorbing member 8a. As shown in FIG. 1, the frame member 8c is formed in a frame shape, and the frame member 8c is rotatable as shown in FIGS. And an arm member 8d that supports the suction member 8a.

The arm unit 9 is a handling arm that is rotatably supported by the drive shaft 5 m of the transport robot 5. As shown in FIG. 1, the arm portion 9 can be rotated by a drive shaft 5 m of the transport robot 5 and can slide in the length direction integrally with the clamp portion 8 as shown in FIGS. 2 and 3. is there. As shown in FIG. 1, the arm unit 9 rotates in the direction A by the drive shaft 5 m when holding the conveyance object W by the press machine 3 and conveying the conveyance object W from the press machine 3 to the press machine 4. When the transport object W is released by the press machine 3 and returned from the press machine 4 to the press machine 3, it is rotated in the direction opposite to the A direction by the drive shaft 5m. As shown in FIG. 1, when holding the conveyance object W by the press machine 3, the arm unit 9 moves forward in the B ₁ direction to hold the conveyance object W and then moves backward in the B ₂ direction. When the transport object W is released by the machine 4, it moves forward in the B ₂ direction to release the transport object W and then moves backward in the B ₁ direction.

  The rotation mechanism unit 10 illustrated in FIG. 3 is a device that transmits the rotational force generated by the rotation drive motor 13 to the clamp unit 8. As shown in FIGS. 3 and 4, the rotation mechanism unit 10 is a winding transmission device including a drive pulley 10 a, a driven pulley 10 b, a timing belt 10 c, and the like. The driving pulley 10a is a rotating body that is rotationally driven by the rotational driving motor 13, and is rotatably supported at the end of the arm portion 9 as shown in FIG. The drive pulley 10a is attached to the drive shaft of the rotary drive motor 13, as shown in FIGS. The driven pulley 10b is a rotating body that is driven in conjunction with the rotational drive of the drive pulley 10a, and rotates to the end of the arm 9 opposite to the side on which the drive pulley 10a is supported, as shown in FIG. It is supported freely. A clamp portion 8 is supported and fixed at the lower end of the driven pulley 10b so as to be rotatable integrally with the driven pulley 10b. The timing belt 10c is a belt that transmits the rotational force of the driving pulley 10a to the driven pulley 10b, and is wound around and attached to the driving pulley 10a and the driven pulley 10b. As shown in FIG. 1, the rotation mechanism unit 10 rotates the driven pulley 10 b in synchronization with the rotation of the drive pulley 10 a shown in FIG. 3 when conveying the object W from the press machine 3 to the press machine 4. Thus, the clamp unit 8 is rotated so that the posture of the conveyance target W is constant, or the clamp unit 8 is rotated so that the posture of the conveyance target W is changed.

The guide unit 11 is a device that guides the arm unit 9 in a slidable manner. As shown in FIG. 3, the guide unit 11 is supported by the drive shaft 5m of the transport robot 5, and when the drive shaft 5m rotates as shown in FIG. Rotates as the center of rotation. As shown in FIGS. 3 and 4, the guide portion 11 is arranged slightly above the arm portion 9 and moves in the B ₁ and B ₂ directions as shown in FIG. Guide freely.

The slide mechanism unit 12 is a device that converts the rotational motion of the slide drive motor 14 into a linear motion and transmits the rotational force of the slide drive motor 14 to the arm unit 9. The slide mechanism unit 12 is disposed between the arm unit 9 and the guide unit 11 shown in FIG. As shown in FIG. 4, the slide mechanism unit 12 is a rack and pinion mechanism including a pinion gear 12a and a rack 12b. The pinion gear 12 a is a gear that is rotationally driven by the slide drive motor 14, and is attached to the drive shaft of the slide drive motor 14. The rack 12 b is a member that meshes with the pinion gear 12 a to convert the rotational motion into a linear motion, and is fixed to the upper surface of the arm portion 9 along the length direction of the arm portion 9. The slide mechanism unit 12 meshes the pinion gear 12a and the rack 12b, and slides the arm unit 9 in the B ₁ and B ₂ directions with respect to the guide unit 11 as shown in FIGS.

  A rotation drive motor 13 shown in FIG. 5 is a servo motor that individually rotates the clamp unit 8 with respect to the arm unit 9, and individually drives the arm unit 9 based on a command from the control device 6. As shown in FIGS. 2 to 4, the rotary drive motor 13 is attached and fixed to the end of the arm portion 9 and below the drive pulley 10 a. The rotation drive motor 13 is feedback-controlled by the control device 6 shown in FIG. 5 based on the detection result of a detection device such as an encoder that detects the amount of rotation of the clamp unit 8. The rotation drive motor 13 individually drives the arm unit 9 so that the conveyance object W maintains the same posture when holding the conveyance object W in the previous process and releasing it in the next process, The arm unit 9 is individually driven so that the posture of the object W changes.

  The slide drive motor 14 shown in FIG. 5 is a servo motor that individually slides the arm unit 9 with respect to the drive shaft 5 m of the transport robot 5, and individually drives the clamp unit 8 based on a command from the control device 6. . As shown in FIGS. 2 to 4, the slide drive motor 14 is attached and fixed to the end of the guide portion 11 adjacent to the drive shaft 5 m. The slide drive motor 14 is feedback-controlled by the control device 6 shown in FIG. 5 based on the detection result of a detection device such as an encoder that detects the amount of movement of the arm unit 9.

Next, the operation of the transfer robot including the transfer device according to the embodiment of the present invention will be described.
(When transporting objects with the same posture)
FIG. 6 is a plan view schematically showing an operation of carrying the carrying object in the same posture by the carrying robot having the carrying device according to the embodiment of the present invention.
When the slide drive motor 14 shown in FIG. 5 individually drives the arm portions 9, the arm portions 9 move forward in the B ₁ direction as shown in FIG. 6 and the clamp portion 8 moves the conveyance object W in the press machine 3. After the holding, the arm portion 9 moves backward in the B ₂ direction, and the conveyance object W is taken out from the press machine 3. Arm portions 9 substantially simultaneously as retreats B ₂ direction, the T-axis drive motor 5n shown in FIG. 5 rotates the drive shaft 5 m, the guide portion 11 together with the arm portion 9 as shown in FIG. 6 5 rotates in the A direction, and the rotation drive motor 13 shown in FIG. 5 rotates the clamp unit 8 individually to rotate the conveyance object W in the C direction as shown in FIG. As shown by a two-dot chain line in FIG. 6, when the transfer object W is transferred from the press machine 3 to the intermediate position between the press machine 3 and the press machine 4, the arm is on the near side as viewed from the transfer robot 5 side. Part 9 is drawn. As a result, the transport object W is transported along the substantially line center LC just by slightly shifting the center of the transport object W from the line center LC. When the object to be conveyed W is further conveyed from the intermediate position between the press machine 3 and the press machine 4 to the press machine 4, the slide drive motor 14 shown in FIG. arm portion 9 as shown in the clamp unit 8 releases the conveyance object W in the press machine 4 advanced in B ₂ direction. Thus, while the conveyance target object W is conveyed from the press machine 3 to the press machine 4, the rotation drive motor 13 rotates the clamp part 8 individually, so that the conveyance target object W is shown in FIG. It is always transported in the same posture.

(When transporting by changing the posture of the object to be transported)
FIG. 7 is a plan view schematically showing an operation of changing the posture of the transfer object by the transfer robot including the transfer device according to the embodiment of the present invention.
As shown in FIG. 7, when an obstacle such as the cam mold 3 f is installed in the press machine 3, if the conveyance object W is conveyed with the same posture as shown in FIG. 6, the conveyance object W interferes with the cam mold 3 f, and the conveyance object W cannot be conveyed from the press machine 3 to the press machine 4. For this reason, when conveying the conveyance target W from the press machine 3 to the press machine 4, it is necessary to change the attitude | position of this conveyance target W, and to convey. In this case, first, the slide driving motor 14 shown in FIG. 5 drives the arm portion 9 separately, the clamping unit in the press machine 3 arm portion 9 as shown in FIG. 7 is advanced in B ₁ direction 8 holds the conveyance object W. Thereafter, the T-axis drive motor 5n shown in FIG. 5 rotates the drive shaft 5m, and as shown in FIG. 7, the guide portion 11 is rotated in the A direction integrally with the arm portion 9 and shown in FIG. The rotational drive motor 13 rotates the clamp unit 8 individually to rotate the conveyance object W. As a result, since the posture of the conveyance target object W changes in inclination, interference between the conveyance target object W and the cam mold 3f is avoided. Next, when the slide drive motor 14 shown in FIG. 5 individually drives the arm portions 9, the arm portions 9 retreat in the B ₂ direction as shown in FIG. 7 and the conveyance object W is taken out from the press machine 3. At the same time, the rotary drive motor 13 shown in FIG. 5 rotates the clamp unit 8 individually to rotate the conveyance object W. As a result, the posture of the conveyance object W is restored from the tilted state to the original state, and thereafter the conveyance object W is conveyed with the same posture of the conveyance object W.

The transfer device, the transfer robot, and the press line according to the embodiment of the present invention have the following effects.
(1) In this embodiment, the slide drive motor 14 individually slides the arm portion 9 with respect to the drive shaft 5 m of the transport robot 5, and the rotary drive motor 13 individually rotates the clamp portion 8 with respect to the arm portion 9. Let As a result, compared with the prior arts 1 to 4, the posture of the conveyance target W can be changed by rotating the conveyance target W at an arbitrary position, so the degree of freedom of the conveyance posture of the conveyance target W is improved. Can be made. In addition, when the transport target W is transported from the pre-process to the post-process as compared with the prior art 1, only the transport target W can be rotated by the rotary drive motor 13 separately from the rotation operation of the drive shaft 5m. At the same time, the trajectory drawn by the conveyance object W can be conveyed substantially linearly along the line center LC. In addition, the rotation angle of the conveyance target W is not limited as compared with the related art 2, and the rotation angle of the conveyance target W is 360 °, so that the degree of freedom of the rotation angle can be improved. Furthermore, since the drive source of the arm unit 9 and the drive source of the clamp unit 8 are independent of those of the prior art 4, the rotation angle of the arm unit 9 and the rotation angle of the clamp unit 8 can be arbitrarily changed. .

(2) In this embodiment, the rotation drive motor 13 individually rotates the arm unit 9 based on a command from the control device 6 that controls the operation of the transport robot 5, and slide driving is performed based on the command from the control device 6. The motor 14 slides the arm part 9 individually. As a result, a dedicated control device for controlling the rotary drive motor 13 and the slide drive motor 14 becomes unnecessary, and the control device 6 can be used, so that the product cost can be reduced.

(3) In this embodiment, the arm portion 9 is supported on the drive shaft 5 m of the transport robot 5 so as to be rotatable. As a result, the drive shaft 5m can be used more effectively than in the prior arts 1 to 3, and the arm portion 9 is arbitrarily arranged on the line connecting the point where the conveyance object W is held and released and the turning center of the conveyance robot 5. Therefore, the arm portion 9 can be freely operated.

(4) In this embodiment, the slide drive motor 14 slides the arm portion 9 with respect to the drive shaft 5m. For this reason, the rotation angle of the transfer robot 5 can be reduced as compared with the prior arts 1 and 2, and the transfer time can be shortened. In particular, by simultaneously performing the rotation operation of the transfer robot 5 and the slide operation of the arm unit 9, the transfer time can be further shortened. In addition, the moment of inertia acting on the drive shaft 5 m of the transport robot 5 can be reduced by sliding the arm portion 9. As a result, since the rotation radius with respect to the rotation center of the conveyance target W becomes small, the centrifugal force acting on the conveyance target W becomes small and the conveyance speed can be improved.

(5) In this embodiment, when the transport object W is held in the previous process and released in the next process, the arm unit 9 is individually driven by the rotary drive motor 13 so that the posture of the transport object W changes. To drive. For this reason, restrictions on the rotation angle of the clamp part 8 and the arm part 9 are reduced and the degree of freedom is increased, and the angle at which the clamp part 8 advances and retreats in the press machine 3 can be freely set. As a result, it is possible to avoid the obstacle such as the cam mold 3f from interfering with the conveyance object W, and thus it is possible to reduce restrictions on the mold production.

(6) In this embodiment, when the transport object W is held in the previous process and released in the next process, the arm unit 9 is individually connected to the rotation drive motor 13 so that the transport object W maintains the same posture. To drive. For this reason, the attitude | position of the conveyance target object W can be stabilized and conveyed so that the conveyance target object W may not rotate.

(7) In this embodiment, the transfer device 7 is mounted on the drive shaft 5 m of the transfer robot 5. For this reason, the movable range of the transfer device 7 becomes relatively large, and an external shaft prepared as a standard option can be added to a commercially available articulated robot so that the transfer device 7 can be easily attached without restriction by the manufacturer. .

The present invention is not limited to the embodiment described above, and various modifications or changes can be made as described below, and these are also within the scope of the present invention.
(1) In this embodiment, although the case where the conveyance target object W was conveyed between the press machine 3 and the press machine 4 was described as an example, the present invention is not limited to this. For example, when the conveyance object W is conveyed between the press machine that sends the conveyance object W to the press machine and the press machine, or between the press machine and the discharge device that discharges the conveyance object W from the press machine. The present invention can also be applied to the case of transporting the transport object W. Moreover, in this embodiment, although the case where the attitude | position of the conveyance target object W was the same in the front process and the back process was mentioned as an example, it demonstrated to an example, but it does not limit to this case. For example, when the posture of the conveyance object W is different between the pre-process and the post-process, the conveyance object W can be conveyed by changing the direction according to the rotation amount taught from the control device 6.

(2) In this embodiment, the case where the cam mold 3f exists as an obstacle in the press machine 3 has been described as an example. However, the present invention is not limited to this case. For example, the present invention can also be applied to cases where other obstacles such as guide posts and cam bars of the mold 2 are present in the press machine 3 or where obstacles are present in the press machine 4. Further, in this embodiment, the case where the rotation mechanism unit 10 is a timing belt type winding transmission device has been described as an example, but the present invention is also applied to a case where it is a rack and pinion mechanism or a link mechanism. Can do. Furthermore, in this embodiment, the case where the slide mechanism unit 12 is a rack and pinion mechanism has been described as an example, but the present invention is also applied to a case where it is a ball screw mechanism or a timing belt type winding transmission device. be able to.

It is a top view which shows the state which the conveyance robot provided with the conveying apparatus which concerns on embodiment of this invention hold | maintained the conveyance target object in the front process. It is a front view which shows the state which the conveyance robot provided with the conveying apparatus which concerns on embodiment of this invention hold | maintained the conveyance target object. It is a front view which shows the state which the arm part of the conveying apparatus which concerns on embodiment of this invention slid. It is sectional drawing which shows the state cut | disconnected by the IV-IV line of FIG. It is a block diagram of a conveyance robot provided with the conveyance apparatus which concerns on embodiment of this invention. It is a top view which shows typically the operation | movement which conveys the attitude | position of a conveyance target object with the same attitude | position by the conveyance robot provided with the conveying apparatus which concerns on embodiment of this invention. It is a top view which shows typically the operation | movement which changes the attitude | position of a conveyance target object with a conveyance robot provided with the conveying apparatus which concerns on embodiment of this invention.

Explanation of symbols

1 Press line 2 Mold 2a Lower mold 2b Upper mold 3 Press machine (pre-process press machine)
3f Cam type (obstacle)
4 Press machine (post-press machine)
DESCRIPTION OF SYMBOLS 5 Transfer robot 5m Drive shaft 6 Control apparatus 7 Transfer apparatus 8 Clamp part 9 Arm part 10 Rotation mechanism part 11 Guide part 12 Slide mechanism part 13 Rotation drive motor 14 Slide drive motor W Conveyance object LC Line center

Claims (6)

A transport device for transporting a transport object from a previous process to a next process,
An arm unit rotatably supported by the drive shaft of the transfer robot;
A slide drive unit that individually slides the arm unit with respect to the drive shaft;
A clamp part that is supported by the arm part and holds the conveyance object in the previous process and releases it in the next process;
A rotation drive unit that individually rotates the clamp unit with respect to the arm unit;
A transport apparatus comprising: In the conveyance apparatus of Claim 1,
The slide drive unit individually slides the arm unit based on a command from a control device that controls the operation of the transfer robot,
The rotation drive unit individually rotates the clamp unit based on a command from the control device;
A conveying device characterized by the above. In the conveyance apparatus of Claim 1 or Claim 2,
The rotation drive unit individually rotates the arm unit so that the posture of the conveyance object changes when the conveyance object is held in the previous process and released in the next process.
A conveying device characterized by the above. In the conveyance apparatus of any one of Claim 1- Claim 3,
The rotation driving unit individually rotates the arm unit so that the conveyance object maintains the same posture when the conveyance object is held in the previous process and released in the next process;
A conveying device characterized by the above. A transport robot that transports an object to be transported from the previous process to the next process,
Comprising the transfer device according to any one of claims 1 to 4,
A transfer robot characterized by It is a press line that conveys the object to be conveyed from the previous process to the next process and presses the object to be conveyed by a plurality of press machines,
Comprising the transfer robot according to claim 5;
A press line characterized by

Images