JP2569137Y2 - Work transfer system - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer system.

[0002]

2. Description of the Related Art Conventionally, a material or a product material is held at the tip of a robot arm, and the material or the product material is carried into or out of a punch press table by turning the robot arm.

[0003]

[Problems to be Solved by the Invention] A double detector is required to prevent the removal of two sheets of material. However, when the detector is attached to the tip of the robot arm, the operation speed of the robot arm decreases. In addition, there is a problem that the work efficiency is deteriorated and the accuracy of the transfer positioning is affected.

[0004]

SUMMARY OF THE INVENTION As described above, in order to solve the conventional problems, in the present invention, a material loading table for loading a plurality of materials and a punching process are provided on one side of a table in a punch press. A loading table is provided for loading a plurality of product materials subjected to the above, and between the table and the loading table for the material and the product material, the material is transported from the loading table for the material to the table, and the loading table is loaded from the table. A work transfer robot that transfers product materials to the product material loading table is provided.This work transfer robot has a multi-joint robot arm, and a large number of vacuums that adsorb materials and product materials from the top at the tip of the robot arm. A pad, and the material loading table is provided with a two-sheet detector for detecting whether or not two materials are sucked by a large number of vacuum pads, Two-up detector is characterized by being configured to be located on opposite sides of a a work conveying robot and the mounting base side for material.

[0005]

According to the above construction, the material at the top of the material loading table is sucked by a large number of vacuum pads in the work transfer robot. Then, the material is transferred from the material stacking table to the punch press table by the work transfer robot in a state where the material is sucked by the many vacuum pads. Here, when the material separates from the material loading table, it is detected by the two-sheet pick-up detector whether or not two sheets of material are sucked by a large number of vacuum pads,
When it is detected that two materials are being sucked, one material is appropriately separated from the vacuum pad. After the material is conveyed to the table, the suction state of many vacuum pads is released.

After transferring the material to the table,
The material is punched by a punch press to form a desired product.

After punching the material, the product material punched by the vacuum pads of the work transfer robot is sucked from above. Then, the product material is transported from the table to the product material loading table by the work transport robot in a state where the product material is sucked by the many vacuum pads. After the product material is conveyed to the product material mounting table, the suction state of many vacuum pads is released.

[0008] In addition to the above operation, since the two-sheet detector is provided on the material loading table, it is not necessary to provide the two-sheet detector at the tip of the robot arm in the work transfer robot. Can be reduced. In addition, since the two-sheet detector is located on the side of the material loading table and on the opposite side of the workpiece transfer robot, interference with the two-sheet detector is avoided, and The operating range can be extended.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 4 is a front view of a turret punch press in which the work transfer system of the present invention is implemented. In the figure, a turret punch press 1 is configured such that columns 5 and 7 are integrally erected on a lower frame 3 and an upper frame 9 is provided on the columns 5 and 7 to form a frame.

The upper frame 9 is provided with a disk-shaped upper turret 11 via a rotating shaft 13 so as to be rotatable. In the lower frame 3, a lower turret 15 facing the upper turret 11 is rotatably provided via a rotation shaft 17.

The upper and lower turrets 11 and 15 are synchronously rotated by a predetermined angle in the same direction by appropriately operating a rotating device (not shown) such as a servomotor.

The upper and lower turrets 11 and 15 are provided with a large number of mold stations (not shown). The large number of mold stations include a large number of upper molds 19 and various lower molds 21 having various sizes and shapes. Are detachably attached, and a pair of upper and lower upper and lower dies 19 and 21 have the same dimensions and the same shape.

In order to perform a punching process on the material W, a ram 23 that can move up and down is provided near the center of the upper frame 9. Therefore, by appropriately operating the rotating device to position the predetermined upper and lower dies 19 and 21 at the vertically lower position of the ram 23 and lowering the ram 23, the predetermined upper and lower dies 19 and 21 are moved to the predetermined positions. Can be punched.

A movement positioning device 25 is provided for performing the movement positioning of the material W to be punched.
More specifically, a Y-axis moving body 27 in the movement positioning device 25 is provided so as to be able to move the rail 29 attached to the lower frame 3 in the front-rear direction, that is, in the Y-axis direction (left-right direction in the figure). An X-axis moving body 33 provided with a clamp device 31 for gripping the material W is provided on a carriage base 27a of the axis moving body 27 so as to be movable in the left-right direction, that is, the x-axis direction (front and back directions in the drawing toward the plane of the drawing). Installed.

On the upper surface of the lower frame 3, a material W
There is provided a fixed table 35a constituting a part of a work table 35 which movably supports the movable table 35a, and movable tables 35b fixed to the Y-axis moving body 27 are arranged on both left and right sides of the fixed table 35a.

According to the above configuration, after the material W is carried into the work table 35, the material W is positioned at the origin position of the work table 35, the material W is gripped by the clamp device 31, and the Y-axis moving body 27 is moved to the Y-axis. The material W gripped by the clamp device 31 is moved to a predetermined position between the upper turret 11 and the lower turret 15 for positioning by moving the X-axis moving body 33 in the X-axis direction while moving the material W in the axial direction.

Before or at the same time as the material w is moved and positioned as described above, the rotating device is appropriately operated to move the predetermined upper and lower dies 19 and 21 to the vertically lower position of the ram 23. Let me know. Finally, ram 23
Is lowered to press the predetermined upper mold 19, so that the material W supported by the lower turret 11 can be subjected to predetermined punching.

In order to position the material W at a predetermined origin position of the work table 35, a Y-axis positioning member 37 capable of abutting on the material w is provided at an appropriate position on the lower jaw of the clamp device 31. An X-axis positioning member 39 capable of contacting the material W is provided at the left end of the work table 35 or at an appropriate position on the Y-axis movable body 27 so as to be able to protrude and retract with respect to the upper surface of the work table 35 or the Y-axis movable body 27. Is provided.

An origin positioning device 41 (FIG. 1) provided with a Y-axis positioning member 37 and an X-axis positioning member 39 is provided with a detachable mounting arm 43 on the Y-axis moving body 27 to hold a workpiece W by suction. Work holding member (suction pad)
45 is provided by a mounting arm 43 so as to be reciprocally movable in a direction intersecting the X axis and the Y axis and to be vertically movable.

FIG. 1 is a perspective view showing a schematic structure of an embodiment of a device for loading and unloading a work to and from a punch press according to the present invention, FIG. 2 is an explanatory diagram showing a schematic arrangement of FIG. 1, and FIG. FIG. 1 is an explanatory diagram of a work loading / unloading device main body. 1 to 3, the work transfer robot 47 includes a movable table (front side table) 3 on the work W loading side of the turret punch press 1 on which the origin positioning device 41 is mounted.
5b, which is mounted on the mounting base in the vicinity of the vertical rotation part (column) 57 and the robot arms 59 and 61.
, The shaft body 63 and the pad holding frame 6
And 5.

The column 57 is rotatably driven in its plane by a gear 61 of a drive motor 59 having a gear 57 (FIG. 3) provided on a vertical rotating shaft (not shown) mounted on the mounting base.

The robot arm 59 is provided with a gear 65 provided on a horizontal central axis (FIG. 3) 63a of a hinge portion 63 having one end connected to the column 57. And are rotatably driven in a vertical plane. The robot arm 61
A gear 75 provided on a horizontal central axis (FIG. 3) 73 of a hinge portion 71 having one end connected to the other end of the robot arm 59 is provided with a gear 79 of a drive motor 77 mounted on the robot arm 59 side. The gears are rotatably driven in a vertical plane.

The shaft body 63 is provided with a gear 87 provided on a horizontal center shaft 83 of a hinge portion 81 connected to the other end of the robot arm 61 and a gear (not shown) of a drive motor 85 attached to the robot arm 61 side. ) And is rotatably driven in a vertical plane and is always held vertically.

The pad holding frame 65 is provided at the lower end of the shaft 63, and the gear 91 provided on the surface thereof is rotatable in a horizontal plane by meshing with a gear 89 a of a drive motor 89 provided on the shaft 63. is there. Also, the pad holding frame 65
A large number of vacuum pads 93 with free pistons are horizontally arranged on the lower surface of.

In addition, in front of the work loading / unloading robot 47, a material stack 51 and a product stack 53 are arranged, and a recess (not shown) on which the four legs 95 can be engaged is formed on the mounting base. The positioning of the material table 51 and the product table 53 at the time of attachment and removal is facilitated. Further, the material table 51 is provided with the robot arms 59 and 6 of the work loading / unloading robot 47 to prevent two pieces of material from being taken out.
Two-panel detector 97 for reducing the weight of 1
Are attached by a bracket 99. Also, NC
The control panel 55 controls the work transfer robot 47.

With the above configuration, when the work W is carried in, the column 57 is rotated so that the pad holding frame 65 is directed in the direction of the work W on the material stack 51. The robot arms 59 and 61 and the shaft 63 are rotated so that the pad holding frame 65 always keeps a horizontal state, and the vacuum pad 93 of the pad holding frame 65 is moved and sucked onto the work W.

After the suction, the robot arms 59 and 61 and the shaft body 63 are rotated in the opposite direction to take up two workpieces W and raise the height to the detector 97 to detect whether or not two workpieces have been taken. If necessary, for example, a magnet floater (not shown) may be attached to the material stacking 51 to prevent the work W from being picked up by suction by the jetting air.

When it is confirmed that only one work W is sucked by the vacuum pad 93, the column 57 is rotated to move the work W onto the movable table 35b of the turret punch press 1.

In this movement, the pad holding frame 65 is rotated with respect to the shaft 63 so that the two sides of the work W are substantially parallel to the X and Y axes of the punch press 1, respectively. Thereafter, the robot arms 59 and 61 and the shaft 63
Is rotated, and the work W is lowered and placed on the movable table 35b. When placed, the vacuum pad 93 releases the work W and immediately leaves.

The work W is positioned when the work holding member (work suction pad) 45 of the turret punch press 1 holds the work W by suction and moves the work suction pad 45 along the robot arms 59 and 61. Is the abutting surface 37 of the clamp device 31 on the movable table 35b.
And the X-axis positioning member,
Is completed. At this time, the origin positioning time is set within the evacuation time of the work transfer robot 47, and no time loss occurs. Thereafter, the work W is clamped by the clamp device 31, the suction pad 45 is released, and punching is started.

In carrying out the product after processing, the vacuum pad 93 of the work carrying-in / out robot 47 sucks the product, releases the clamp / clamp device 31 of the turret punch press 1, and the X-axis moving body (carriage) 33 retreats. . By rotating the robot arms 59 and 61 and the shaft body 63, the product material W is lifted from the work table 35, and the column 57 is rotated in the direction opposite to the loading direction, so that the product material W is moved in the direction of the product material loading table 53. , The pad holding frame 65 is lowered onto the product material loading table 53 by rotating the robot arms 59 and 61 and the shaft 63, and the pad holding frame 65 is moved to the shaft 63.
Is rotated horizontally with respect to, and the product materials W are aligned and accumulated on the already accumulated product materials W.

The configuration of the present invention is summarized as follows.

That is, a material loading table 51 for loading a plurality of materials W and a product loading table 53 for loading a plurality of punched products W on one side of the work table 35 in the turret punch press 1. The material W is transported from the work table 35 to the work table 35 from the work table 35 to the work table 35 and between the work table 35 and the material and product material mount tables 51 and 53. A work transfer robot 47 for transferring the product material W to the table 53 is provided. The work transfer robot 47 includes articulated robot arms 59 and 61, and the material W and the product material W are attached to the distal ends of the robot arms 59 and 61. A plurality of vacuum pads 93 that are attracted from above are provided.
3 is provided with a two-sheet detector 97 for detecting whether or not two materials W are sucked.
Reference numeral 7 denotes a side portion of the material loading table 51, which is located on the opposite side of the workpiece transfer robot 47.

The operation of this embodiment is summarized as follows.

That is, the material loading table 51 is formed by the large number of vacuum pads 93 in the work transfer robot 47.
The uppermost material W is adsorbed from above. Then, the workpiece W is transported from the workpiece loading table 51 to the work table 35 by the workpiece transport robot 47 in a state where the workpiece W is sucked by the large number of vacuum pads 93. Here, when the material W separates from the material loading table 51, 2
2 by the vacuum pad 93 by the sheet taking detector 97
It is detected whether or not the material W is sucked, and when it is detected that two materials are sucked by the vacuum pad 93, one material W is appropriately separated from the vacuum pad 93. After the material W is transported to the work table 35, the suction state of the vacuum pad 93 is released.

After the material W is carried into the work table 35, the material W is punched by the turret punch press 1 to form a desired product W.

After performing the punching process on the material W, the product material W on the work table 35 is sucked from above by the large number of vacuum pads 93 in the work transfer robot 47. And many vacuum pads 9
The product material W is conveyed from the work table 35 to the product material loading table 53 by the work transfer robot 47 in a state where the product material W is sucked by the step 3. After the product W is conveyed to the product loading table 53, the suction state of the vacuum pad 93 is released.

In addition to the above operation, the material loading table 51
The provision of the sheet take-off detector 97 does not require the provision of the two sheet take-up detectors at the end portions of the robot arms 59 and 61 in the work transfer robot 47, and reduces the weight acting on the end portions of the robot arms 59 and 61. Reduction can be achieved. In addition, the two-sheet detector 97 is connected to the material loading table 51.
And the opposite side of the workpiece transfer robot 47, the operating range of the robot arms 59 and 61 can be increased while avoiding interference with the two-sheet detector 97.

As described above, according to the invention of this embodiment,
The robot arm 59 in the work transfer robot 47,
Since it is possible to reduce the weight acting on the distal end of the work transfer robot 47, the operation speed of the robot arms 59 and 61 can be increased to increase the speed of work of the work transfer robot 47, and the transfer of the work transfer robot 47 can be performed. The positioning accuracy can be improved.

Further, since the operation range of the robot arms 59 and 61 can be expanded while avoiding interference with the two-sheet detector 97, the workability of the work transfer robot 47 can be improved.

[0042]

As described above, according to the first aspect of the present invention, it is not necessary to provide a two-piece detector at the end of the robot arm in the work transfer robot, and the work transfer robot operates on the end of the robot arm. Since the weight of the work transfer robot can be reduced, the operation speed of the robot arm can be increased to increase the speed of work of the work transfer robot, and the transfer positioning accuracy of the work transfer robot can be improved.

Further, since the operation range of the robot arm can be expanded while avoiding interference with the two-sheet detector, the workability of the work transfer robot can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic structure of an embodiment of a system for transferring a work to a punch press according to the present invention.

FIG. 2 is an explanatory view showing a schematic arrangement state of FIG. 1;

FIG. 3 is an explanatory diagram of the work transfer system of FIG. 1;

FIG. 4 is a front view of a turret punch press in which the work transfer system of the present invention is implemented.

[Explanation of symbols]

 1 Turret Punch Press 41 Origin Positioning Device 47 Work Transfer Robot 57 Column 59, 61 Robot Arm 63 Shaft 65 Pad Holding Frame 93 Vacuum Pad

Claims (1)

(57) [Scope of request for utility model registration] 1. A table in a punch press, on one side of a table, a material loading table for loading a plurality of materials and a product material loading table for loading a plurality of punched products, and the table and the material are provided. A work transfer robot for transferring materials from the material loading table to the table and transferring the product material from the table to the product material loading table is provided between the loading table and the product loading table. An articulated robot arm is provided. At the end of the robot arm, there are provided a large number of vacuum pads for adsorbing materials and product materials from above, and on the material loading table, two materials are adsorbed by the large number of vacuum pads. A two-panel detector for detecting whether or not the workpiece is loaded, the two-panel detector is located on the side of the material loading table and on the opposite side of the workpiece transfer robot. A work transfer system characterized by being configured to be placed.