JP2007105878A - Suction transporting device for works - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suck works in a complicated, fine shape in favorable performance and transport them to a hard-to-access place in favorable performance. <P>SOLUTION: A suction transporting device for works is composed of a plurality of sucking means 55 installed on a bed body 51, rod-shaped slide parts 56 installed on the respective sucking means 55 and supported movably in such a manner as independently of the other sucking means 55, suction parts 57 installed at the forefronts of the respective slide parts 56 in congestion in such a manner as adjoining one another, air suction means 56, 60, 62, 63 connected with the respective suction parts 57, and a suction on/off controlling means 65 capable of making the on/off control of the air sucking action to the suction parts 57 individually. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

    The present invention relates to a workpiece suction / conveyance device used when suctioning and transporting a plate-like workpiece by laser processing equipment or the like.

    2. Description of the Related Art Conventionally, in a laser processing facility or the like, a workpiece suction / conveying device using a vacuum pad or the like is used when sucking and transporting a plate-like workpiece.

    However, the conventional workpiece suction / conveying device often fails to attract a complex and finely shaped workpiece. In addition, when trying to transport a sucked work to an intricate place such as right next to a stack of already stacked workpieces, there is a problem that the suction head interferes with the workpiece stack and cannot be transported well. It was.

    SUMMARY OF THE INVENTION In view of the above circumstances, the present invention has an object to provide a workpiece adsorption / conveyance device that can favorably attract even a complex and finely shaped workpiece and can suitably convey a workpiece to an intricate place. To do.

That is, the first invention of the present invention has a first frame that is provided to be movable and movable in at least a horizontal direction, and a second frame is provided on the first frame so as to be movable up and down.
In the second frame, a suspension frame is provided so as to be rotatable and positionable around a first rotation axis extending in the vertical direction,
A plurality of arms are provided on the suspension frame so as to be rotatable and positionable around a second rotating shaft extending in the vertical direction,
The lengths of the arms are respectively set to be slightly shorter than the distance between the first rotating shaft and the second rotating shaft of each arm,
In each of the arms, a suction head is provided so as to be movable and positionable in a horizontal direction on the arm along the arm,
The suction head is
Head body (51),
A plurality of suction means (55) provided in the head main body (51), and provided in each suction means (55), in the axial direction with respect to the head main body (51), other suction means (55) A rod-like slide part (56) supported so as to be movable in an independent manner,
At the tip of each slide part (56), the adsorbing part (57) densely arranged adjacent to each other in a non-adsorptive state of the object (70)
Air suction means (56, 60, 62, 63) connected to each of the suction portions (57), and
The air suction means (56, 60, 62, 63) is provided with a suction intermittent control means (65) capable of individually turning on / off the air suction operation with respect to each suction portion (57).

    The second invention of the present invention is the first invention, wherein the rod-shaped slide portion (56) is formed in a hollow tubular shape with an air flow path (56c) formed therein, The air flow path (56c) 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 first aspect, the suction portions (57) are supported so as to be rotatable in all directions with respect to the rod-shaped slide portion (56).

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

    According to a fifth aspect of the present invention, in the first aspect, each suction portion (57) includes a cover means (59) that covers the suction portion (57). A taper portion (59a) is formed on the head main body (51) side of 59).

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

    With the above configuration, in the first invention, the suction head has adjacent and dense suction portions, and air suction means is connected to each of the suction portions. Adsorption can be performed independently. Therefore, even if the object to be sucked is a complex and fine work, and some of the suction heads of the suction head protrude from the fine parts of the work, they are not protruding from the work. Since the workpiece can be effectively sucked through the remaining suction portions, the workpiece can be sucked without any problem. That is, according to the present invention, even a complex and finely shaped workpiece can be adsorbed suitably. Also, when trying to transport an adsorbed workpiece to an intricate place such as right next to a pile of workpieces that have already been stacked, the adsorption means that has not adsorbed the workpiece is moving on the way Although it may hit an obstacle, the sliding part of each suction means is movable independently of the other suction means, so the suction means hitting the obstacle stops moving in the state of hitting On the other hand, the adsorbing means that adsorbs the workpiece can move without any trouble, and can convey the adsorbed workpiece to a position to be conveyed without any problem. As described above, according to the present invention, the workpiece can be suitably transported to a complicated place. Furthermore, in the present invention, for example, when some suction means protrude from the workpiece, only the suction means protruding from the workpiece is subjected to the air suction operation to the suction portion of the suction means via the suction intermittent control means. It is turned off and the adsorption state in the adsorption part is cut off. As a result, it is possible to save energy by avoiding wasteful energy consumption by operating the suction means that cannot generate an effective suction force for the workpiece. Furthermore, it is advantageous because it is possible to eliminate the disadvantage that the suction means sucks and sucks things other than the workpiece such as dust.

    In addition, in the second invention of the present invention, in addition to the effect of the first invention, the slide portion also serves as a part of the air suction means. In addition, since the suction portion is not provided with other piping other than the slide portion, it is convenient that such piping does not interfere with the workpiece or the like.

    In the third invention of the present invention, for example, even a workpiece (not shown) in which irregularities are formed by pressing or the like is aligned by appropriately rotating each suction portion with respect to the irregular surface. Thus, an effective suction force can be generated between these suction portions and the workpiece. Therefore, in addition to the effect of the first invention, it is possible to adsorb a workpiece having irregularities, which is convenient.

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

    In addition, in the fifth aspect of the present invention, in addition to the effects of the first aspect, the cover means prevents the plurality of suction portions from colliding with each other and being damaged. Further, it is possible to prevent the outside dust and the like from being inadvertently sucked when a suction force is generated in the suction portion. In addition, after the positions of the adjacent suction portions shift in the axial direction, the head main body side is moved, so that one of the shifted suction portions is moved through the slide portion, and the adjacent suction portions are moved. In the case where the positions of the matching suction portions are aligned again, the end side of one cover means hits the tapered portion of the other cover means and slides along this tapered shape, so that the cover means can be prevented from being caught. Convenient.

    Hereinafter, embodiments of the present invention will be described 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 taken along an arrow I in FIG. 2, and FIG. 4 is a view taken along an arrow II in FIG. FIG. 5 is a perspective view showing a suspended frame, a head unit, and the like. FIG. 6 is a side view showing one of the head units in detail (partial sectional view). FIG. FIG. 8 is a view of the head unit from above (partial sectional view), FIG. 9 is a plan view showing only the head support portion of the head frame, and FIG. FIG. 11 is a perspective view of the head assembly viewed from below, FIG. 11 is a perspective view showing a state where the processed workpiece is sucked by the suction head assembly, and FIG. 12 is a state where the conveyed processed workpiece is transferred onto the pallet. FIG. 13 is a perspective view showing the workpiece being sucked by the suction head assembly. FIG. 14 is a side view showing a state in which the processed workpiece that has been conveyed is transferred to the pallet, and FIG. 15 is a schematic plan view showing the positioning possible range of the four suction head assemblies. 16 to 22 are schematic plan views showing examples of positioning patterns of four suction head assemblies.

    As shown in FIG. 1, the laser processing facility 1 stores and stores a large number of plate-shaped workpieces 70A, and appropriately takes out the workpiece 70A to be processed from the stacked and stored workpieces 70A. A known material stocker 2 that can be cut, and the above-mentioned material workpiece 70A can be cut using a laser beam on the side of the material stocker 2 (on the right side in FIG. 1). Two machines 3 are provided (the number of laser processing machines 3 may not be two). A known sorting table 5 on which a processed workpiece 70 cut by the laser processing machine 3 can be placed further to the side of the two laser processing machines 3, 3 (on the right side in FIG. 1). Two units are provided (the number of the sorting units 5 may not be two). The material stocker 2, the laser processing machines 3, 3, and the sorting tables 5, 5 are arranged in a line in a predetermined horizontal transport direction (the directions of arrows A and B in the figure).

    Above these material stocker 2, laser beam machine 3, 3, sorting table 5, 5, a guide rail 6 extending in the transport direction (arrow A, B direction in the figure) is formed, and these material stocker 2, laser beam machine The machines 3 and 3 and the sorting tables 5 and 5 are installed so as to communicate with each other, and a transfer robot 7 is provided on the guide rail 6 along the guide rail 6 in the transfer direction (arrows A and B directions). It is provided so as to be movable and movable. The transfer robot 7 is a well-known one, and can transfer the material workpiece 70A from the material stocker 2 to each laser processing machine 3 via a vacuum pad or the like, and each laser processed workpiece 70 can be processed via a fork or the like. It can be freely conveyed from the machine 3 to each sorting table 5.

    On the other hand, on a further side of the two sorting tables 5 and 5 (on the right side in FIG. 1 and therefore on the arrow B side in the figure), a known work stocker 9 extends along the transport direction (arrows A and B directions). A plurality of units are arranged in an array (four in this embodiment, but this number need not be four). On each workpiece stocker 9, a plurality of processed workpieces 70 are stacked and placed, and a plate-like pallet on which workpiece piles 700 formed by stacking a large number of processed workpieces 70 can be placed side by side. 10 is detachably installed. Above the sorting tables 5 and 5 and the plurality of work stockers 9 described above, as shown in FIG. 1, a pair of parallel guide rails 11 and 11 extending in the conveying direction (arrows A and B in the drawing) are formed. However, it is installed in such a manner that the sorting tables 5 and 5 and the plurality of work stockers 9 are in communication with each other via appropriate support members 11a and 11a. These guide rails 11 and 11 are provided with a palletizing robot 20.

    The palletizing robot 20 has a suspension frame 21 that is suspended from the guide rails 11 and 11 as shown in FIGS. 2 to 4 (however, the guide rails 11 and 11 are omitted in FIG. 4). The suspension frame 21 is movable along the guide rails 11 and 11 in the transport direction (arrows A and B directions). The suspension frame 21 is provided with a traveling drive device 22 including a motor 22a and gears 22b and 22b that are rotationally driven by the motor 22a. The support member 11a is formed along the guide rails 11 and 11. Racks 11b and 11b are provided. Each gear 22b of the travel drive device 22 meshes with each rack 11b.

    A pair of parallel moving rails 23 and 23 are formed on the suspension frame 21 so as to extend in the directions of arrows C and D in the figure, which is a horizontal direction perpendicular to the transport direction (arrows A and B). A first frame 25 is suspended from the moving rails 23 and 23, and the first frame 25 is movable in the directions of arrows C and D along the moving rails 23 and 23. . As shown in FIG. 4, the first frame 25 is provided with a movement drive device 26 including a motor 26a and a gear 26b that is rotationally driven by the motor 26a. The suspension frame 21 has a movement rail. A rack 23 a is provided along the line 23. The gear 26a of the movement drive 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 are formed as shown in FIG. 3). As shown in FIGS. 2 and 3, a vertically extending rod 27 is slidably inserted into the hole 25 a. A second frame 29 is connected to the lower ends of the rods 27. Therefore, the second frame 29 is movable in the vertical direction (directions of arrows E and F in the figure) with respect to the first frame 25. . As shown in FIGS. 2 to 4, a balancer 28 (two in this embodiment), which is a pneumatic cylinder device, is provided between the first frame 25 and the second frame 29. A load on the second frame 29 side is supported by the first frame 25. Further, the second frame 29 is provided with rod-like screw members 30 (two in this embodiment) extending upward as shown in FIG. 2 or 3 so as to penetrate the first frame 25. The first frame 25 is provided with nut members 31 (two in this embodiment) fixed to the first frame 25 only in the vertical direction. Each nut member 31 is screwed to each screw member 30 so as to form a ball screw device.

    Further, the first frame 25 has a motor 32a, and a nut driving device 32 capable of rotating the nut members 31 by power from the motor 32a is provided. 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. The shaft 33 extends in the directions of arrows R1 and R2 around the rotation axis CT1 extending in the vertical direction. The shaft 33 is provided so as to be freely rotatable. A suspension frame 35 is suspended from the lower end side of the shaft 33. A rotation drive device 36 is provided between the second frame 29 and the shaft 33. As shown in FIG. 2, the rotary drive device 36 includes a motor 36a provided on the second frame 29 side, and a pulley 36b that is rotationally driven by the motor 36a via a belt or the like. The pulley 36b is a shaft. 33 is fixed. The shaft 33 can be driven to rotate in the directions of arrows R1 and R2 by the rotation of the pulley 36b.

    As shown in FIGS. 2 and 5, the hanging frame 35 of the present embodiment is basically a substantially horizontal plate shape, and its planar shape has a substantially cross shape. A head unit 45 is provided at each end portion 35a corresponding to the vicinity of the tips of the four cross-shaped arm portions of the suspension frame 35 (the shape of the suspension frame 35 is arbitrary, the number of the head units 45). Can be any number as long as it is one or more). As shown in FIGS. 5, 6, and 8, each head unit 45 has a bracket 46 fixed to the lower side of the end portion 35 a, and a horizontal and substantially straight arm 47 is provided on the bracket 46. A rotary shaft CT2 extending in the vertical direction (directions of arrows E and F) is pivotally mounted in the directions of arrows S and T in the drawing. A drive motor 49 is provided in the bracket 46 portion, and an output shaft 49a side of the drive motor 49 is disposed concentrically with the rotation shaft CT2 and connected to the arm 47.

    The arm 47 is provided with slide rails 50, 50 extending along the arms 47 in the directions of arrows P and Q (horizontal directions) in the drawing, which is the extension direction of the arm 47. A suction head 58 is provided via the rails 50, 50. The suction head 58 has a head frame 51 slidably movable in the directions of arrows P and Q along the slide rails 50 and 50 described above (note that the slide rail 50 is omitted in FIG. The head frame 51 and the like are also shown in a simplified rectangular parallelepiped shape). The head frame 51 is provided with a slide drive device 52 including a motor 52 a and a gear 52 b that is rotationally driven by the motor 52 a. The arm 47 is provided with a rack 47 a along the arm 47. . The gear 47b of the slide drive device 52 is engaged with the rack 47a.

    Further, as shown in FIGS. 6, 7, and 9, the head frame 51 is formed with a horizontal plate-like head support portion 53. The head support portion 53 includes a bush 53 a that extends vertically. A plurality of suction sets 55 (19 in this embodiment, but this number is not limited to 19 as long as the number is plural) are supported. A plurality of suction sets 55 supported by one head support 53 constitute a suction head assembly 550 as a group. Each suction set 55 has a rod-like tube body 56 extending vertically, and this tube body 56 is penetrated by the head support portion 53 via the bush 53a and the like as described above. That is, the tubular body 56 is slidable in the vertical direction (arrow E, F direction) with respect to the head support portion 53. A stopper 56a is provided in the vicinity of the upper end of the tube body 56 so that the bushing 53a cannot pass through the tube body 56. The stopper 56a is engaged with the head support portion 53 so that the tube body 56 is supported by the head support portion 53. Supported by part 53.

    As shown in FIGS. 6, 7, 10, and 11, a pad 57, which is a cap-shaped vacuum pad, is provided at the lower end of the tube body 56 so as to face downward (in the direction of arrow F). Near the lower end of the body 56 is a substantially cylindrical pad protection member 59 opened downward (in FIG. 11, for the sake of simplicity, the pad protection member 59 is indicated by a two-dot chain line only for a part of the suction set 55). The pad 57 is provided so as to cover and protect the side periphery. The upper portion of the pad protection member 59 is a tapered portion 59a that narrows upward. In addition, the inside of the pad 57 is connected to and communicated with an air flow path 56c (FIG. 6) inside the tubular body 56 via the lower end of the tubular body 56, and the upper end side of the tubular body 56 is connected via a joint 56b. A tube 60 made of a stretchable spiral tube or the like (shown by a straight line such as an alternate long and short dash line in each drawing for simplicity) is connected so that the air flow path 56a and the inside of the tube 60 communicate with each other.

    6 to 8, a horizontal plate-like tube support 61 is formed above the head support 53 so as to face the head support 53 vertically. The ends of the tubes 60 of each suction set 55 are connected to and supported by the tube support 61 through appropriate joints 61a (not shown in FIG. 7). As a result, tangling of a large number of tubes 60 is prevented. Each tube 60 is connected to a pressure transmission member 62 made of another tube or the like via the joint 61a described above, and the tip of these pressure transmission members 62 is connected to a vacuum pump 63 (atmospheric pressure). (Transmission member 62 and vacuum pump 63 are shown only in FIG. 6). Further, as shown in FIG. 6, a valve 65 capable of opening and closing the inside of the atmospheric pressure transmission member 62 is provided in the middle of each atmospheric pressure transmission member 62. Each valve 65 is provided by a predetermined valve driving device or the like (not shown). It can be selectively driven. As shown in FIG. 10, the suction head assembly 550 composed of the plurality of suction sets 55 configured as described above is closely arranged adjacent to each other such that these pads 57 form a circular outline.

    Since the laser processing equipment 1 and the palletizing robot 20 are configured as described above, in the laser processing equipment 1, processing and sorting of workpieces are performed as follows. That is, as shown in FIG. 1, in the material stocker 2, the material workpieces 70 </ b> A that have been stacked and stored are sequentially taken out, and the taken material workpieces 70 </ b> A are sequentially conveyed to the laser processing machines 3 by the conveyance robot 7. In each laser processing machine 3, the workpiece 70 </ b> A that has been sequentially transferred is sequentially cut and processed, and the processed work 70 that has been processed by each laser processing machine 3 is sequentially transferred to each sorting table 5 by the transfer robot 7. On the other hand, the processed workpieces 70 conveyed to each sorting table 5 are sequentially conveyed onto each pallet 10 of each workpiece stocker 9 through the palletizing robot 20 in the procedure described in detail below.

    In other words, the palletizing robot 20 operates the motor 22a in the traveling drive device 22 provided on the suspension frame 21 to rotationally drive the gears 22b and 22b. Then, the suspension frame 21 is moved and driven in the direction of arrow A along the guide rails 11 and 11, and is positioned at a desired position by the brake function of the travel drive device 22. As a result, the suspension frame 21 was positioned on the sorting table 5 at a position corresponding to the processed work 70 to be transported (position aligned in the directions of arrows A and B above the processed work 70).

    Next, the movement drive device 26 provided in the first frame 25 operates the motor 26a to rotationally drive the gear 26b, whereby the first frame 25 is attached to the suspension frame 21 via the gear 26b and the rack 23a meshed with the gear 26b. On the other hand, it is driven to move in the directions of arrows C and D along the moving rail 23 and is positioned at a desired position by the brake function of the moving drive device 26. As a result, the first frame 25 is positioned at a position on the sorting table 5 and just above the processed workpiece 70 to be transported.

    Next, the suction head aggregates 550 of the four head units 45 are matched with the shape of the target processed workpiece 70 as shown in FIG. Move and position with. This movement positioning is executed by performing (a) rotation / positioning of the suspended 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 suspended frame 35. First, the motor 36a is operated in the rotational drive device 36 between the second frame 29 and the shaft 33, and thereby the pulley 36b is driven to rotate, whereby the shaft 33 is centered on the rotational 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. Thus, the rotation of the shaft 33 causes the suspension frame 35 side to be driven to rotate in the directions indicated by arrows R1 and R2 with respect to the second frame 29 side. Then, when the suspension frame 35 side rotates to a desired position, the suspension frame 35 side is stopped and positioned by the brake function on the rotation drive device 36 side.

    (B) Turning and positioning of the arm 47. This is performed individually in each head unit 45. That is, in each head unit 45, the drive motor 49 provided in the bracket 46 is operated, and the arm 47 is driven to turn in the directions of arrows S and T around the rotation axis CT2 via the output shaft 49a. In this way, when the arm 47 turns to a desired position, the arm 47 is stopped and positioned by the brake function of the drive motor 49.

    (C) Slide movement / 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 52a of the slide drive device 52 provided on the head frame 51 is operated to rotate the gear 52b, and the head frame 51 is moved to the slide rail 50 via the rack 47a engaged with the gear 52b. , 50 and slide in the directions of arrows P and Q. Thus, when the head frame 51 is slid to a desired position, the head frame 51 is stopped and positioned by the brake function of the driving device 52.

    By performing (a), (b), and (c) described above, or by performing one or two of (a), (b), and (c), and (b) When (c) is performed, by performing (b) and (c) for at least one of the four head units 45, the respective suction head assemblies 550 of the four head units 45 are stationary. 2 is moved and positioned in the horizontal two-dimensional direction with respect to the processed frame 70 on the sorting table 5 and thus in the shape of the processed workpiece 70 to be conveyed from now on as shown in FIG. Positioned in a uniform shape. Thereafter, the nut driving device 32 of the first frame 25 operates the motor 32a and rotationally drives each nut member 31 by the motor 32a, so that each screw member 30 into which each nut member 31 is screwed is moved downward. To drive. As a result, the second frame 29 side is moved downward (in the direction of arrow F in the figure) with respect to the first frame 25 side by being guided through the plurality of rods 27 and the guide holes 25a into which these are inserted. Driven.

    The movement drive of the second frame 29 side with respect to the first frame 25 side is further continued. Therefore, the suction head aggregates 550 of the four head units 45 are lowered, and the pads 57 of these suction head aggregates 550 are shown in FIG. Stops the operation of the nut driving device 32 in contact with the processed workpiece 70 on the sorting table 5 and stops the movement of the second frame 29 side with respect to the first frame 25 side. In this case, the lowering of the second frame 29 side relative to the first frame 25 side may be continued somewhat after each pad 57 of the suction head assembly 550 contacts the processed workpiece 70. For example, if the lowering of the second frame 29 side with respect to the first frame 25 side is continued after each pad 57 abuts the processed workpiece 70, FIG. 13 (the pad protection member 59 and the like are omitted in FIG. 13). As shown, the head support portion 53 supporting the plurality of suction sets 55 is lowered. However, each suction set 55 is movable upward relative to the head support portion 53 in such a manner that the tubular body 56 slides. Therefore, the head support portion 53 is relative to each suction set 55. It is free to move downward. As a result, a plurality of suction sets 55 abut against the processed workpiece 70, and even if these suction sets 55 remain on the processed workpiece 70 in this state, the head support portion 53 side is in contact with these suction sets 55. It descends smoothly without giving careless force. Thus, even if the amount of movement on the second frame 29 side relative to the first frame 25 side is not particularly accurate, the operation of bringing the pads 57 of the suction head assembly 550 into contact with the processed workpiece 70 can be performed accurately and safely. .

    As already described above, the suction head aggregates 550 of the four head units 45 are positioned in alignment with the shape of the target processed workpiece 70 as shown in FIG. 5, for example. As the assembly 550 is lowered to the processed workpiece 70, a large number of pads 57 of the suction head assembly 550 are in a state of being suitably in contact with the processed workpiece 70 as shown in FIG.

    By the way, as shown in FIG. 15, the four head units 45 of the present embodiment are centered on the rotation axis CT1 of the shaft 33 on which the rotation axis CT2 that is the pivot center of each arm 47 suspends the suspension frame 35. Are arranged on the same circumference at intervals of 90 degrees, and the length of each arm 47 is slightly shorter than the distance between the rotation axes CT1 and CT2. Further, since the suction head assembly 550 of each arm 47 is movable from the vicinity of the rotation axis CT2 of the arm 47 to the vicinity of the tip of the arm 47, each suction head assembly 550 is moved in a horizontal two-dimensional direction ( The ranges RF1 to RF4 that can be positioned in the horizontal plane are, for example, as shown by the diagonal lines in FIG. 15 with reference to the respective rotation axes CT2 (the two-dot chain line in FIG. 15 indicates the arm 47 and the suction head assembly 550). Shows the trajectory of movement). 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, so that the rotation axis A range RG in which each suction head assembly 550 can be positioned in a horizontal two-dimensional direction (within a horizontal plane) with CT1 as a reference is, for example, within a circle centered on the rotation axis CT1 as shown in FIG. (Indicated by a one-dot chain line in FIG. 15). In other words, as long as the processed workpiece 70 to be transported is in any shape 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 workpiece 70 is appropriate. It can be done.

    For example, as shown in FIG. 16 (FIG. 5) and FIG. 18, the suction head aggregate 550 of these arms 47 is moved to the vicinity of the rotation axis CT 1 and positioned in such a manner that the tips of the arms 47 are collected near the rotation axis CT 1. Thus, the suction head assembly 550 can be positioned with respect to the small U-shaped workpiece 70 (FIG. 16) near the rotation axis CT1 and the circular workpiece 70 (FIG. 18) near the rotation axis CT1. Further, for example, as shown in FIG. 17, by positioning one suction head assembly 550 (the suction head assembly 550 on the lower side in the drawing in the drawing) closer to the rotation axis CT1 from the state of FIG. Positioning of the suction head assembly 550 with respect to a small triangular workpiece near CT1 is realized.

    Further, as shown in FIG. 19 and FIG. 21, one arm 47 (arm 47 on the lower side of the drawing in the figure) is swung away from the state of FIG. By moving the suction head assembly 550 (arm 47 on the right side of the drawing in the drawing) along the arm 47 and moving it away from the rotation axis CT1, the shape is elongated and complicated in the left-right direction in the drawing (the shape with a long and thin protrusion). ) Positioning of the suction head assembly 550 with respect to the work 70 is realized.

    Further, as shown in FIG. 20, the two arms 47 (arms 47 and 47 on the lower side and right side in the drawing) are turned and moved away from the rotation axis CT1 as compared with the state shown in FIG. In addition, the suction head assembly 550 can be positioned with respect to the workpiece 70 having a more complicated shape. Further, as shown in FIG. 22, two arms 47 (arms 47 and 47 on the lower side and right side in the drawing) than the state shown in FIG. 18 are swung to move away from the rotation axis CT1. In addition, the suction head assembly 550 can be positioned with respect to the workpiece 70 having a large and complicated shape on the left and right sides of the drawing. Although not shown in the drawings, it is possible to position the four suction head assemblies 550 in various patterns to achieve positioning with respect to a wide variety of complicated shapes.

    As described above, after the four suction head assemblies 550 are positioned on the processed workpiece 70 as shown in FIG. 5, the workpiece 70 is sucked. In advance, the vacuum pump 63 (FIG. 6) is activated, and the valve 65 of each atmospheric pressure transmission member 62 is closed. Therefore, in order to attract the work 70, the valve 65 of each atmospheric pressure transmission member 62 is driven to open. Thereby, the inside of each pad 57 connected to the vacuum pump 63 via the atmospheric pressure transmission member 62, the tube 60, and the pipe body 56 is depressurized to generate a suction force. Since each pad 57 is in contact with the target processed workpiece 70 as shown in FIGS. 5 and 13, an adsorption force is generated between the pad 57 and the workpiece 70 to attract the workpiece 70. At this time, as shown in FIG. 11, a plurality of pads 57 of one suction head assembly 550 are completely positioned on the work 70 (pads 57 shown with a pattern in the drawing). Even if there is a pad 57 protruding from the work 70 (a pad 57 that is completely out of the work 70 or a part of the pad 57 is detached from the work 70 and has no pattern in the figure). Good. That is, since the suction forces are generated in the respective pads 57 independently of each other, the pad 57 protruding from the work 70 does not effectively generate the suction force with respect to the work 70. In the pad 57 located in the position, airtightness is maintained between the pad 57 and the work 70, and an attractive force is effectively generated. Accordingly, even if all the pads 57 of the suction head assembly 550 are not completely on the work 70, it is possible to obtain the suction force necessary to reliably suck the work 70, so that the width is larger than that of the suction head assembly 550. However, even a small work or a work having a fine and complicated shape is advantageous because it is possible to effectively generate a suction force and suck the work without any problem. When the workpiece is attracted, the valve 65 is driven in the atmospheric pressure transmission member 62 corresponding to the pad 57 protruding from the workpiece 70 to be in a closed state. As a result, it is possible to save energy without giving a useless suction force to the pad 57 that cannot generate an effective suction force with the workpiece 70. In particular, the pad 57 protruding from the work 70 can avoid inconveniences such as adsorbing objects other than the work 70 intended for suction such as the sorting table 5 and other work 70, and sucking dust. It is.

    After sucking the processed workpiece 70 as described above, the processed workpiece is sucked by moving the second frame 29 side upward with respect to the first frame 25 side (arrow E direction in the figure) by the nut driving device 32. 70 is raised to a predetermined height. Next, the suspension drive 21 is moved and driven in the direction of arrow B along the guide rails 11, 11 by the travel drive device 22, and the palletizing robot 20 is moved to a desired position (worked stocker 9 to which the processed work 70 adsorbed is to be delivered. At the same position in the direction of arrows A and B).

    Next, the movement drive device 26 drives the first frame 25 side to move to the suspension frame 21 in the directions of arrows C and D along the movement rail 23 to move the sucked processed workpiece 70 to a desired position (the processing frame). The finished work 70 is moved to a position substantially above the position on the pallet 10 to be delivered, and the first frame 25 side is stopped and positioned. 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 drive device 36, and the suspension frame 35 is driven to rotate in the directions indicated by arrows R1 and R2. Thus, the orientation of the processed workpiece 70 that is attracted is adjusted to a desired direction.

    Subsequently, the nut driving device 32 moves the second frame 29 side downward with respect to the first frame 25 side (in the direction of arrow F in the figure), and lowers the workpiece 70 that is being sucked onto the pallet 10. Further, the second frame 29 side is driven to move downward with respect to the first frame 25 side, and the sucked work 70 is further lowered, so that the palletizing robot 20 side is sucked in FIG. Only the head assembly 550 and the simplified head frame 51 are shown) or the workpiece 70 is placed 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 workpiece pile 700 that has already been stacked, but it may be the surface of the pallet 10). After placement, the valve 65 of each atmospheric pressure transmission member 62 is 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 workpiece 70 sucked and conveyed was delivered in a form to be placed on the workpiece pile 700 on the pallet 10.

    At this time, after the sucked processed work 70 is placed on the pallet 10 side, the downward movement of the second frame 29 side relative to the first frame 25 side may be continued to some extent. After the processed workpiece 70 is placed on the pallet 10 side, when the downward movement of the second frame 29 side with respect to the first frame 25 side is continued, FIG. 14 (the suction set 55 that has sucked the workpiece 70 is shown in FIG. As shown in the middle sheet surface, the head support portion 53 supporting the plurality of suction sets 55 is further lowered. However, since the head support portion 53 is movable downward relative to each suction set 55 as already described, each suction set 55 hits the workpiece 70 and stops and does not move any further downward. In this state, the head support portion 53 can be lowered without being blocked by the suction set 55, and the suction set 55 can be prevented from receiving an inadvertent force by the head support portion 53 or the like. In other words, even if the amount of movement of the second frame 29 side relative to the first frame 25 side is not particularly accurate, it is convenient because the workpiece 70 that has been sucked can be placed and delivered appropriately. In addition, since a plurality of workpieces 70 are usually stacked and mounted on the pallet 10 as the workpiece pile 700, the placement position (height) of the workpiece 70 to be placed thereon depends on the height of the workpiece pile 700 already formed. Level) is different. However, in the palletizing robot 20 of this example, even if the amount of movement on the second frame 29 side relative to the first frame 25 side is not particularly accurate as described above, the sucked work 70 is placed at a predetermined placement position (height). For example, even when the amount of movement in the vertical direction when the work 70 is lowered is always constant, the work 70 can be placed and delivered appropriately at different height levels in each case. Yes. This facilitates control of the amount of movement in the vertical direction, which is convenient.

    When the processed workpiece 70 is placed and delivered, it is necessary to efficiently use the limited space on the pallet 10 to sort a large number of workpieces. For example, as shown in FIGS. A workpiece 70 that has been transported in the form of creating a workpiece mountain 700 is placed next to the workpiece mountain 700 and delivered. In this example, another work mountain 700 already placed on the suction set 55 (two suction sets 55 on the left side in FIG. 14) that does not suck the work 70 is placed. It exists higher than the mounting position (height level) to be. Therefore, when lowering the sucked workpiece 70, first, the suction set 55 (two suction sets 55 on the left side in FIG. 14) that does not suck the workpiece 70 is placed on the upper surface of the another workpiece crest 700. Abut. However, if the workpiece 70 continues to descend as it is, only the suction set 55 in contact with the workpiece crest 700 remains in contact with the workpiece 70 and slides upward relative to the head support portion 53. This is because each suction set 55 is independently movable up and down relative to the head support 53 in one suction head assembly 550. Therefore, the suction set 55 in contact with the workpiece ridge 700 does not prevent the head support portion 53 from descending, and conversely, the suction set 55 does not receive an inadvertent force from the head support portion 53 side. Then, the suction set 55 sucking the workpiece 70 is lowered without any trouble, and the workpiece 70 can be placed and transferred to a predetermined placement position. Thus, the delivery of the workpiece 70 can be suitably performed even in a narrow place.

    By the way, the pad protection member 59 in each suction set 55 prevents a plurality of pads 57 from colliding with each other in the suction head assembly 550 and breaks them, and also generates a suction force in the pads 57. It serves to prevent inadvertent suction of external dust and the like. 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. The suction set 55 is lowered by its own weight (or a structure in which the suction set 55 is forcibly lowered using a spring or the like), and all the suction sets 55 are aligned at the same height as shown in FIG. Here, since the pad protection members 59 of the plurality of pads 57 adjacent to each other have a taper portion 59a on the upper side, the same height is again obtained after the adjacent pad protection members 59, 59 are displaced 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 located below and slides down along this tapered shape. This advantageously prevents the pad protection members 59 and 59 from being caught.

    Thereafter, in the same procedure as described above, the palletizing robot 20 travels in the direction of arrow A to the sorting table 5 on which the workpiece to be transferred next is placed, and the arrow of the first frame 25 relative to the suspension frame 21 Four suction heads are assembled by moving and positioning in the C and D directions, (a) rotation and positioning of the suspended frame 35, (b) turning and positioning of the arm 47, and (c) sliding movement and positioning of the head frame 51. By positioning the body 550 in accordance with the target processed workpiece 70 on the sorting table 5 and lowering the second frame 29 side with respect to the first frame 25, the plurality of pads 57 of each suction pad assembly 550 are targeted. After contacting the workpiece, the workpiece is sucked by these pads 57, and the second frame 29 side is lifted with respect to the first frame 25, and the pallet is moved. The Ising robot 20 is moved to the work stocker 9 in the direction of arrow B, and moved and positioned in the directions of arrows C and D of the first frame 25 with respect to the suspension frame 21, and suctioned and conveyed by rotation and positioning on the suspension frame 35 side. The work that has been done is adjusted to the position on the pallet 10 of the work stocker 9 to be placed, and the work that is attracted is placed by lowering the second frame 29 side relative to the first frame 25. By repeating a series of operations such as placing at the position and releasing the suction by the pad 57 to complete the delivery, the processed workpieces 70 sequentially placed on the sorting tables 5 are sequentially sucked and conveyed to each workpiece stocker 9. Placed on the pallet 10 and delivered.

    As already described, in the palletizing robot 20 of this embodiment, (a) rotation / positioning of the suspended frame 35, (b) rotation / positioning of the arm 47, and (c) slide movement / positioning of the head frame 51 The suction head aggregates 550 are provided so that they can be moved and positioned in a horizontal two-dimensional direction, so that the respective suction head aggregates 550 can be appropriately positioned even with respect to a workpiece having a complicated shape. Can be transported. Further, each suction head assembly 550 includes a plurality of suction sets 55 provided so that the pads 57 are adjacent to each other, and suction force is independently generated by the pads 57 of each suction set 55. Even if some pads 57 of the assembly 550 protrude from the workpiece, the remaining pads 57 can favorably absorb the workpiece, so that, for example, a fine and complex workpiece having a width smaller than that of the suction head assembly 550 can be freely adjusted. 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. As another example, the tube 56 and the pad 57 are connected via a universal joint (not shown). Then, the pad 57 may be rotatable in all directions (for example, the directions of arrows M1, M2, M3, and M4 shown in the right corner of FIG. 11) with respect to the tubular body 56. As a result, even for a workpiece (not shown) having irregularities formed by pressing or the like, the pads 57 and the workpiece are aligned by appropriately rotating the pads 57 with respect to the irregular surface. Therefore, it is possible to generate an effective suction force between the workpiece and the workpiece, and it is possible to suck and convey the workpiece having irregularities formed thereon.

    In the above-described embodiment, the suction head assembly 550 has a horizontal movement mechanism including the shaft 33, the suspension frame 35, the rotation drive device 36, the arm 47, the drive motor 49, the head frame 51, the slide drive device 52, and the like. However, the horizontal movement mechanism can be configured in various other ways. For example, it is possible to provide the second frame 29 or the like with arms having bendable joints at a plurality of locations, and to install the suction head assembly 550 on the tip side of this arm.

    In the above-described embodiment, the pipe body 56 in the suction set 55 is a member that supports the pad 57 so as to be movable in the vertical direction with respect to the head support portion 53, and the vacuum pump 63 side of the pad 57 As another example, instead of the tube body 56, a rod-like slide member that also serves as the suction means is employed, and the pad 57 connected to the slide member has a vacuum pump. You may connect directly the suction means which consists of a tube etc. which were connected to 63 side.

    In each of the above examples, the suction head is applied to the laser processing equipment. However, the suction head according to the present invention is not limited to the laser processing equipment, and can be applied to other types of machine tool equipment. is there.

It is the perspective view which showed typically the whole laser processing equipment. It is the sectional side view which showed the palletizing robot. FIG. 3 is a view taken in the direction of arrow I in FIG. 2. It is the II arrow directional view (partial sectional drawing) of FIG. It is the perspective view which showed the hanging frame, the head unit, etc. It is the side view (partial sectional view) showing one of the head units in detail. It is a III arrow directional view (partial sectional view) of FIG. It is the figure (partial sectional view) which looked at the head unit from the top. It is the top view which showed only the head support part of the head frame. It is the figure which looked at the adsorption head aggregate from the bottom. It is the perspective view which showed a mode that the processed workpiece | work is adsorb | sucked by the adsorption | suction head aggregate | assembly. It is the perspective view which showed a mode that the processed workpiece conveyed has been delivered on the pallet. It is the side view which showed a mode that it was going to adsorb | suck the processed workpiece | work with an adsorption | suction head aggregate | assembly. It is the side view which showed a mode that the processed workpiece which has been conveyed is delivered on the pallet. It is the model top view which showed the positioning possible range of four adsorption | suction head assemblies. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates. It is the model top view which showed the example of the positioning pattern of four adsorption | suction head aggregates.

Explanation of symbols

51 …… Head body (head frame)
52 …… Movement means (slide drive device)
55 …… Adsorption means (adsorption set)
56 …… Slide part (tube)
56a …… Air channel 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 (pressure transmission member)
63 …… Air suction means (vacuum pump)
65 …… Interruption / disconnection control means (valve)
70 …… Object (work)

Claims (5)

Having at least a first frame that is movable and movable in the horizontal direction, and a second frame that can be moved up and down on the first frame;
In the second frame, a suspension frame is provided so as to be rotatable and positionable around a first rotation axis extending in the vertical direction,
A plurality of arms are provided on the suspension frame so as to be rotatable and positionable around a second rotating shaft extending in the vertical direction,
The lengths of the arms are respectively set to be slightly shorter than the distance between the first rotating shaft and the second rotating shaft of each arm,
In each of the arms, a suction head is provided so as to be movable and positionable in a horizontal direction on the arm along the arm,
The suction head is
Head body,
A plurality of suction means provided in the head body;
A rod-like slide portion provided in each of the suction means and supported movably in a direction independent of other suction means in the axial direction with respect to the head body;
At the tip of each slide part, the adsorption part densely arranged in a form adjacent to each other in a non-adsorption state of the object,
Air suction means connected to each of the suction portions; and
Suction intermittent control means provided in the air suction means and capable of individually controlling on / off of the air suction operation for each suction portion;
A workpiece adsorption / conveying device comprising The rod-shaped slide part is formed in a hollow tubular shape with an air flow path formed therein, and the air flow path constitutes a part of the air suction means for sucking air from the suction parts. The workpiece adsorption / conveyance apparatus according to claim 1, wherein: 2. The work suction / conveying apparatus according to claim 1, wherein each suction part is supported so as to be rotatable in all directions with respect to the rod-like slide part. 2. The work suction / conveying apparatus according to claim 1, wherein the head main body is provided with moving means for the head main body. 2. The work suction / conveyance apparatus according to claim 1, wherein each suction part has cover means for covering each suction part, and a taper part is formed on a head body side of the cover means. .

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