JP2010094695A - Workpiece conveying apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece conveying apparatus capable of linearly conveying a workpiece in parallel and at high speed without scattering oil. <P>SOLUTION: The workpiece conveying apparatus 10 includes a robot 11, a direct acting mechanism 20 mounted at the tip end of the arm 13 of the robot 11 and having a carrier 29 linearly driven with a belt 21, and a workpiece holding mechanism 23 mounted on a carrier 29. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a work transfer device that transfers a work in a press line.

  For example, since the panel for automobiles has a complicated shape, the molding process is divided into a plurality of stages and molded by presses arranged in a straight line. In such a transfer press or tandem press using a plurality of presses, a workpiece (workpiece) formed by a certain press is sequentially transferred to the next press by a workpiece transfer device.

  As this type of work transfer device, it extends across the entire area of multiple press stations and transfers work in the same motion between each press station, and a work transfer device is placed between each press station to transfer work independently. There is what to do (work transfer device between presses). The present invention relates to the latter work transfer device.

As a first example of a conventional workpiece transfer device, as shown in FIG. 5, a workpiece gripping portion 42 such as a suction cup unit is attached to the tip of an arm 41 of a general-purpose articulated robot 40, and the workpiece is gripped by the workpiece gripping portion 42. There are some which are conveyed from the pre-process press P1 to the post-process press P2 by gripping and moving in the arrow X direction in the figure. However, in the first conventional example, since the arm 41 cannot be laid down sideways, the height of entry between the upper and lower molds 2 and 3 of the press devices P1 and P2 is increased, and the arm 41 and the upper die are increased. It is easy to interfere with the mold 2. Alternatively, there is a problem that it is difficult to speed up the production because it is necessary to wait for the upper mold 2 and the slide 5 to be retracted upward enough to prevent the arm 41 and the upper mold 2 from interfering with each other. .

  As a second example of a conventional workpiece transfer device, a robot hand comprising a link mechanism is attached to the tip of an articulated robot arm so as to be able to turn horizontally, and a workpiece gripping part is attached to the tip of the robot hand. There are some which move the position and posture of the workpiece gripping part by the above operation and grip the workpiece by the workpiece gripping part and convey it (for example, see Patent Documents 1 and 2 below).

  According to the work transfer device of the second conventional example, since the height of the robot hand entering between the upper and lower molds is low, the production speed can be increased, but in addition to the horizontal rotation of the articulated robot, the link Since the mechanism also has a horizontal turning motion, in order to move the workpiece gripping portion linearly in the feed direction, it is necessary to perform synchronous rotation control between the articulated robot and the robot hand, and there is a problem that the control is complicated.

  As a third example of a conventional workpiece transfer device, a linear motion mechanism including a screw transmission device is attached to the arm tip of an articulated robot, and a workpiece gripping portion is attached to a reciprocating body of the linear motion mechanism. There is one in which the position and posture of a workpiece gripping portion are moved by a linear motion mechanism, and the workpiece is gripped and conveyed by the workpiece gripping portion (for example, see Patent Document 3 below).

  According to the work conveying device of the third conventional example, the rotation synchronization control as in the second conventional example is unnecessary, and the control is simple. However, since the screw transmission device is used as the linear motion mechanism, the oil transfer device is used. The possibility of scattering is high, and it is inconvenient as a transport device for entering the inside of a mold that dislikes dirt such as oil droplets. The same applies when a rack and pinion device is used as the linear motion mechanism. In addition, when a linear motor is used as the linear motion mechanism, it is expensive and uncontrollable at the time of a power failure.

Japanese Patent No. 3560908 JP 2006-123209 A Japanese Utility Model Publication No. 4-42390

  The present invention has been made in view of the above problems, and provides a workpiece transfer device that can transfer a workpiece linearly in parallel at high speed without oil scattering in a workpiece transfer device using an articulated robot. The task is to do.

In order to solve the above-described problems, the workpiece transfer apparatus of the present invention employs the following means.
(1) The present invention is a workpiece transfer device that transfers a workpiece on a press line, the robot having a robot body and an arm that three-dimensionally moves the tip position relative to the robot body, and the tip of the arm And a linear motion mechanism having a carrier that is linearly driven by a belt, and a workpiece gripping mechanism that is attached to the carrier and grips a workpiece.

According to the configuration of the present invention, the workpiece gripping mechanism is linearly moved by the linear motion mechanism. Therefore, since the rotation synchronization control between the linear motion mechanism and the robot is unnecessary, the control is simple and the carrier is moved by the belt mechanism, so that no oil is scattered.
Therefore, according to the workpiece conveyance apparatus of this invention, a workpiece | work can be conveyed linearly in parallel at high speed without oil scattering.

(2) In the workpiece transfer apparatus according to (1), the linear motion mechanism includes a transfer beam that guides the linear movement of the carrier, a pair of rotatable pulleys provided before and after the transfer beam, and a pair of The carrier beam is attached to the tip of the arm so as to be linearly driven parallel to the moving direction of the carrier, and the belt is partially attached to the arm. The carrier is coupled at a position once passed through the pulley from the fixed position as a base point, and the carrier moves in the same direction as the direction of movement of the carrier beam in conjunction with the movement of the carrier beam. Move straight.

(3) Further, in the workpiece transfer device of (1), the linear motion mechanism includes a transfer beam for guiding the linear movement of the carrier, a pair of rotatable pulleys provided before and after the transfer beam, The carrier is attached to the belt, and the carrier is linearly driven by driving the belt.

Various configurations can be adopted as the configuration of the linear motion mechanism as in (2) and (3) above.
In (2) above, a double speed mechanism is configured in which the carrier moves a distance twice that of the carrier beam. Therefore, in the configurations of (2) and (3), when the carrier movement distance is the same, the carrier supports the carrier. Regarding the required length of the beam, (2) may be half of (3). Therefore, the mechanism (2) can reduce the weight of the mechanism. Further, according to the configuration (2), the length of the carrier beam can be shortened, so that there are few restrictions on application to a press line with a short inter-press pitch.

  According to the workpiece conveyance device of the present invention, it is possible to convey a workpiece linearly in parallel at high speed without oil scattering.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  In FIG. 1, P1 is a pre-process (upstream side) press apparatus, and P2 is a post-process (downstream side) press apparatus. The press devices P1 and P2 are arranged in series in the press line direction so as to sequentially press work (a workpiece, for example, a thin plate such as a door panel).

  In order to unload the work from the pre-process press apparatus P1, send it downstream, and load the work into the post-process press apparatus P2, the work transfer apparatus of the present invention between the pre-process press apparatus P1 and the post-process press apparatus P2. 10 is arranged. The workpiece transfer device 10 includes a robot 11 installed on the floor, a linear motion mechanism 20 attached to the robot 11, and a workpiece gripping mechanism 23 attached to the linear motion mechanism 20.

  The robot 11 includes a robot body 12 and an arm 13 that moves the tip position three-dimensionally relative to the robot body 12. The arm 13 is an articulated arm having a plurality of rotational drive shafts around the vertical and horizontal axes, and includes movements of the drive shafts including horizontal turning around the B axis with respect to the robot body 12 as shown in FIG. Thus, the position and posture of the tip of the arm 13 can be controlled three-dimensionally. Such a robot 11 is not only a puma type robot (one vertical axis, two horizontal axes, two arms, three axes on the wrist), which is generally used as an industrial robot, but also other configurations. A robot can also be used.

  A hand member 14 is attached to the tip of the arm 13, and a linear motion mechanism 20 is attached to the hand member 14. The linear motion mechanism 20 includes a carrier 29 that is linearly driven by a belt 21 and a carrier beam 22 that guides the linear movement of the carrier 29. The carrier 29 is connected to the belt 21 and is linearly driven by the belt 21 along the carrier beam 22 in the press line direction (in the direction of arrow A in FIG. 1). In FIG. 1, a linear motion mechanism 20A of a first configuration example described later is shown.

  A workpiece gripping mechanism 23 that grips a workpiece is attached to the carrier 29 of the linear motion mechanism 20. The workpiece gripping mechanism 23 has a function of gripping and releasing the workpiece by physical action. For example, a vacuum cup method that attracts the workpiece with negative pressure air, or an electromagnet method that attracts the workpiece by magnetic force (however, the workpiece is (Only in the case of a ferromagnetic material) and a method of gripping a work by a manipulator can be applied.

The workpiece conveyance device 10 configured as described above conveys a workpiece as follows.
First, the linear motion mechanism 20 is linearly moved by the robot 11 in the direction of the pre-process press apparatus P1. At this time, in the robot 11, the rotation axis in the vertical direction is controlled so that the linear motion mechanism 20 moves while keeping parallel to the press line direction X.

  In parallel with the movement of the linear motion mechanism 20 by the robot 11, the carrier 29 is linearly moved in the direction of the pre-process press apparatus P1 in the linear motion mechanism 20, and the carrier 29 together with the transport beam 22 is moved to the pre-process press apparatus P1. It is made to enter between the upper mold 2 and the lower mold 3. Then, the carrier 29 is positioned immediately above the work, the arm 13 of the robot 11 is operated so that the work gripping mechanism 23 can hold the work, the work gripping mechanism 23 grips the work and lifts it to a predetermined height. .

  Next, the linear motion mechanism 20 is moved by the robot 11 in the direction of the post-process press apparatus P2 so as to be moved in parallel with the press line direction X, and the carrier 29 is moved by the post-process press in the linear motion mechanism 20. The workpiece gripping mechanism 23 together with the transport beam 22 is moved between the upper die 2 and the lower die 3 of the post-process press device P2 by moving linearly in the direction of the device P2. When the workpiece gripping mechanism 23 is moved to a position and height appropriate for workpiece loading, the workpiece is released from the workpiece gripping mechanism 23 and loaded onto the lower mold 3.

  Subsequently, with the workpiece remaining on the lower mold 3, the trajectory of the operations almost reverse to the above-mentioned operations is followed to return to the starting point, and the series of inter-process transfer operations is completed.

  According to the workpiece transfer apparatus 10 configured as described above, unlike the above-described first prior art, the transfer beam 22 has a small passage space, so that the slide 5 does not reach the mold area before it can be lifted up. Even if it enters, the conveyance apparatus 10 and the metal mold | die 2 and 3 do not interfere. Therefore, the operation of the press line can be speeded up, and productivity is improved.

In addition, since the workpiece gripping mechanism 23 is linearly moved by the linear motion mechanism 20, unlike the above-described second prior art, rotation synchronization control between the linear motion mechanism 20 and the robot 11 is unnecessary, and control is simple. It is.
Further, unlike the above-described third prior art, the carrier 29 is moved by the belt 21 drive mechanism, so that oil does not scatter.

  The linear motion mechanism 20 described above can employ various configurations as follows.

2A and 2B are configuration diagrams of the linear motion mechanism 20A of the first configuration example, in which FIG. 2A shows a state where the carrier 29 is in the neutral position C, and FIG. 2B shows that the carrier 29 moves to one side (right side in the figure). Shows the state.
As shown in FIG. 2, the linear motion mechanism 20 </ b> A includes a pair of freely rotatable pulleys 32 and 33 provided before and after the carrier beam 22, and a belt 21 wound around the pair of pulleys 32 and 33. . The pair of pulleys 32 and 33 are rotatably supported by the carrier beam 22 by pulley fixing shafts 30 and 31, respectively.

  In the configuration example of FIG. 2, the rotational axes of the pair of pulleys 32 and 33 are both oriented in the horizontal direction (direction perpendicular to the paper surface in the figure), but are rotated in the direction inclined with respect to the horizontal direction or in the vertical direction. It may be an axial center. However, the rotational axes of the pair of pulleys 32 and 33 are preferably parallel to each other.

  The carrier beam 22 is provided with guide rails 24a and 24b extending in parallel with each other in the longitudinal direction. A guide block 25 that supports and guides one of the guide rails 24a so as to be linearly movable is fixed to the hand member 14 provided at the tip of the robot 11. The carrier 29 is supported and guided by the other guide rail 24b so as to be linearly slidable in parallel with the moving direction of the carrier beam 22.

  A portion of the belt 21 is fixed to the tip of the arm 13 (in this example, the hand member 14), and the carrier 29 is connected to a position that once passes through the pulley 32 (or 33) with the fixed position as a base point. In the belt 21, the length of the portion connected from the hand member 14 via the one pulley 32 to the carrier 29 is the same as the length of the portion connected from the hand member 14 via the other pulley 33 to the carrier 29. In this way, even if the transport beam 22 moves, the position of the carrier 29 is held at a diagonal position on the linear motion mechanism 20 with respect to the hand member 14 (neutral position).

  A rack 26 is formed in the longitudinal direction of the carrier beam 22. A linear motion motor 27 is attached to the hand member 14, and a pinion 28 that meshes with the rack 26 is fixed to the output shaft of the motor 27. As a result, the carrier beam 22 can be linearly driven in parallel to the moving direction of the carrier 29 with respect to the distal end portion (hand member 14) of the arm 13. In addition to the rack and pinion mechanism described above, a ball screw mechanism, a linear motor, or the like may be employed as the drive mechanism for the carrier beam 22.

The linear motion mechanism 20 of the first configuration example operates as follows.
Assume that the carrier beam 22 is moved rightward in the drawing by a distance L1 from the state where the centers of the carrier beam 22 and the carrier 29 are at the neutral position C as shown in FIG. In this case, as shown in FIG. 2B, the relative position of the belt 21 and the carrier beam 22 changes, and on the carrier 29 side, the belt 21 is only L1 in the same direction as the carrier beam 22 with respect to the carrier beam 22. Sent. As a result, the moving distance L2 from the neutral position of the carrier 29 is 2L1. In other words, the carrier 29 moves a distance twice the moving distance of the carrier beam 22.

FIG. 3 is a configuration diagram of the linear motion mechanism 20B of the second configuration example.
The linear motion mechanism 20 </ b> B includes a pair of rotatable pulleys 32 and 33 provided before and after the carrier beam 22, and a belt 21 wound around the pair of pulleys 32 and 33. The pair of pulleys 32 and 33 are rotatably supported by the carrier beam 22 by pulley fixing shafts 30 and 31, respectively.

  In the configuration example of FIG. 3, the rotation axes of the pair of pulleys 32 and 33 are both oriented in the horizontal direction (the direction perpendicular to the paper surface), but are inclined with respect to the horizontal direction or the rotation axis in the vertical direction. It may be. However, the rotational axes of the pair of pulleys 32 and 33 are preferably parallel to each other.

  The carrier beam 22 is fixed to a hand member 14 provided at the tip of the robot 11. The carrier beam 22 is provided with a guide rail 24b extending in the longitudinal direction. The carrier 29 is supported and guided by a guide rail 24b so as to be linearly slidable in the longitudinal direction of the transport beam 22.

  A linear motion motor 27 is attached to the hand member 14, and a feed roller 35 that contacts the belt 21 is fixed to the output shaft of the motor 27. Auxiliary rollers 36 and 37 are arranged on both sides of the feed roller 35 in order to generate an appropriate frictional force for feeding the belt between the feed roller 35 and the belt 21.

  In the linear motion device 20B of the second configuration example configured as described above, when the linear motion mechanism motor 27 is rotationally driven from the state of FIG. 3A, the belt 21 is moved as shown in FIG. By being sent, the carrier 29 connected to the belt 21 moves linearly.

FIG. 4 is a comparison diagram between the first configuration example 20A and the second configuration example 20B.
In the first configuration example 20A, a double speed mechanism in which the carrier 29 moves twice the distance of the carrier beam 22 is configured. Therefore, when the movement distance of the carrier 29 is the same, the carrier beam 22 that supports the carrier 29 Regarding the required length, the first configuration example 20A may be a half of the second configuration example 20B. Therefore, according to the first configuration example 20A, there is an advantage that the mechanism can be reduced in weight.

  In the second configuration example 20B, as shown in FIG. 4B, there are few problems when applied to a press line having a relatively long pitch between presses (the distance between the centers of the pre-process press apparatus P1 and the post-process press apparatus P2). However, when the second configuration example 20B is applied to a press line with a short pitch between presses as shown in FIG. 4A, the interference between the transfer device and the dies 2, 3 or the transfer device and the press device P1, In order to avoid interference with P2, it is necessary to devise such as a configuration in which the carrier beam 22 is extended in multiple stages, and the apparatus becomes large. On the other hand, according to the first configuration example 20A, since the carrier beam 22 can be shortened, there is an advantage that there are few restrictions on application to a press line with a short pitch between presses as shown in FIG.

  Although the embodiments of the present invention have been described above, the embodiments of the present invention disclosed above are merely examples, and the scope of the present invention is not limited to these embodiments. The scope of the present invention is indicated by the description of the scope of claims, and further includes meanings equivalent to the description of the scope of claims and all modifications within the scope.

It is a schematic block diagram of the press line provided with the workpiece conveyance apparatus of this invention. It is a block diagram of the linear motion mechanism of the 1st structural example in the workpiece conveyance apparatus of this invention. It is a block diagram of the linear motion mechanism of the 2nd structural example in the workpiece conveyance apparatus of this invention. It is a comparison figure of the 1st example of composition and the 2nd example of composition of a linear motion mechanism. It is a figure explaining a prior art.

Explanation of symbols

P1 Pre-process press device P2 Post-process press device 10 Work transfer device 11 Robot 12 Robot body 13 Arm 14 Hand members 20, 20A, 20B Linear motion mechanism 21 Belt 22 Transport beam 23 Work gripping mechanisms 24a, 24b Guide rail 25 Guide block 26 Rack 27 Motor for linear motion mechanism 28 Pinion 29 Carrier 30, 31 Pulley fixed shaft 32, 33 Pulley 35 Roller 36, 37 Auxiliary roller

Claims (3)

A workpiece transfer device for transferring workpieces in a press line,
A robot having a robot body and an arm that three-dimensionally moves the tip position relative to the robot body;
A linear motion mechanism having a carrier attached to the tip of the arm and linearly driven by a belt;
And a workpiece gripping mechanism which is attached to the carrier and grips the workpiece.   The linear motion mechanism has a carrier beam that guides the linear movement of the carrier, a pair of rotatable pulleys provided before and after the carrier beam, and a belt wound around the pair of pulleys, The carrier beam is attached to the tip of the arm so as to be linearly driven in parallel with the moving direction of the carrier, and the belt is fixed to the tip of the arm at a part thereof and based on the fixing position. The workpiece transfer apparatus according to claim 1, wherein the carrier is connected at a position once passing through the pulley, and the carrier linearly moves in the same direction as the transfer beam in conjunction with the movement of the transfer beam.   The linear motion mechanism includes a carrier beam for guiding the linear movement of the carrier, a pair of rotatable pulleys provided before and after the carrier beam, and a belt wound around the pair of pulleys. The work carrier according to claim 1, wherein the carrier is attached to the belt, and the carrier is linearly driven by driving the belt.

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