JP3652211B2 - Transport device - Google Patents

Transport device Download PDF

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Publication number
JP3652211B2
JP3652211B2 JP2000106611A JP2000106611A JP3652211B2 JP 3652211 B2 JP3652211 B2 JP 3652211B2 JP 2000106611 A JP2000106611 A JP 2000106611A JP 2000106611 A JP2000106611 A JP 2000106611A JP 3652211 B2 JP3652211 B2 JP 3652211B2
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JP
Japan
Prior art keywords
arm
rotation
holding
link
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2000106611A
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Japanese (ja)
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JP2001287187A (en
Inventor
幸治 土肥
Original Assignee
川崎重工業株式会社
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Priority to JP2000106611A priority Critical patent/JP3652211B2/en
Priority claimed from US09/824,760 external-priority patent/US6570356B2/en
Publication of JP2001287187A publication Critical patent/JP2001287187A/en
Application granted granted Critical
Publication of JP3652211B2 publication Critical patent/JP3652211B2/en
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Expired - Fee Related legal-status Critical Current

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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transfer device that transfers a workpiece, and more particularly to a transfer device that is attached to a wrist of a robot and used.
[0002]
[Prior art]
For example, when a workpiece is transferred between press machines, a robot is installed between the press machines, and the workpiece is transferred by the robot. At this time, when the interval between the press machines is large, the transfer device is attached to the wrist of the robot, and the workpiece is transferred by the movement of the transfer device and the arm of the robot. An example of the prior art of such a conveying apparatus is disclosed in Japanese Utility Model Laid-Open No. 4-42390 “Article conveying apparatus”.
[0003]
This prior art transport apparatus has a slider and holding means that sucks and holds the workpiece and travels along the slider. In order to convey a workpiece, first, the conveying device is moved to one press machine side by a robot, and the work of one press machine is sucked and held by holding means arranged at one end of the slider. Next, the holding means holding the workpiece is slid to the other side end of the slider, and the robot is moved to the other press machine side by the robot. When the workpiece reaches the other press, the suction holding by the holding means is released.
In this way, the workpiece can be conveyed even when the conveyance distance is long.
[0004]
[Problems to be solved by the invention]
The above-described conventional conveying device has a problem that the conveying speed is low because the holding means is slid and conveyed using a screw screw.
An object of the present invention is to provide a transfer device having a high transfer speed.
[0005]
[Means for Solving the Problems]
The present invention according to claim 1 is provided on the wrist of the robot, contracts from a state of being extended to one side, and can be extended to a side opposite to the one side;
A holding means provided at the tip of the link mechanism and detachably holding the object to be conveyed;
In a conveying device that extends a link mechanism and reciprocates between a pressing machine installed on one side and a pressing machine installed on the other side to convey an object to be conveyed along a straight conveyance path ,
The link mechanism includes a first arm;
Rotating the first arm and the base end of the first arm heart A drive source that rotates as a
A proximal end portion rotatably connected to the distal end portion of the first arm, rotating in conjunction with the rotation of the first arm, and having a second arm provided with the holding means on the distal end side;
When transporting an object to be transported from the one side press to the other side press, the first arm is centered on its base end while the wrist of the robot is linearly moved from one side to the other side horizontally. The second arm is rotated in the first rotation direction, and the second arm is rotated in the second rotation direction opposite to the first rotation direction around the base end in association with the rotation, and is held by the holding means. The transported object is moved in a straight line and transported from a pressing machine on one side to a pressing machine on the other side.
[0006]
According to the present invention, by using a link mechanism that expands and contracts and reciprocates between one side and the other side, it can be transported much faster than a conventional transport device using a screw screw. Also, by reciprocating and transporting linearly, for example, unlike when the arm is swung, centrifugal force does not act on the object to be transported, and the shortest transport path can be obtained.
[0009]
The link mechanism has a first arm and a second arm. For example, the base end of the first arm is attached to the wrist of the robot. The second arm is rotatably attached to the distal end portion of the first arm, and a holding means is provided at the distal end portion of the second arm. When a workpiece is transferred between press machines, a robot having this transfer device is installed between a pair of press machines.
[0010]
To transport a workpiece from one press to the other press, the first arm and the second arm are opened, the link mechanism is extended to one side, and the holding means provided at the tip of the first arm is Extend to the press machine and hold the workpiece. Then, the first arm is rotated in the first rotation direction by the drive source. Then, the second arm attached to the distal end portion of the first arm is interlocked with the rotation of the first arm, rotates in the second rotation direction opposite to the first rotation direction, and the link mechanism contracts. , Work begins to move to the other side. At the center, the first arm and the second arm overlap and contract completely.
[0011]
Further, when the first arm rotates in the first rotation direction, the second arm also rotates in conjunction with this, the link mechanism extends to the other side, and the work reaches the pressing machine on the other side. Here, the holding state by the holding means is released, and the work transfer operation is completed. To extend the holding means to the one press side again, the first arm is rotated in the second direction. Then, the link mechanism contracts and extends to one side, and the work of one press can be held. By repeating such an operation, the holding means can be reciprocated between one press machine and the other press machine, so that the workpiece can be conveyed between the press machines.
[0012]
According to a second aspect of the present invention, there is provided a first device which is interposed between the second arm and the holding means, a base end portion is rotatably connected to a tip portion of the second arm, and a holding means is provided on the tip side. Has 3 arms,
When the second arm rotates in the second rotation direction with the base end portion as the rotation center, the third arm rotates in the first rotation direction with the base end portion as the rotation center in conjunction with this. It is characterized by.
[0013]
According to the present invention, the transport device has the first to third arms, and the holding means is provided on the distal end side of the third arm. Therefore, compared to the length of the link mechanism when contracted, The length of the link mechanism when extended can be increased, and a long distance can be conveyed.
[0014]
According to a third aspect of the present invention, the first arm is interposed between the third arm and the holding means, the base end portion is rotatably connected to the tip end portion of the third arm, and the holding means is provided on the tip end side. Has 4 arms,
When the third arm rotates in the first rotation direction with the base end portion as the rotation center, the fourth arm rotates in the second rotation direction with the base end portion as the rotation center in conjunction with this. It is characterized by.
[0015]
According to the present invention, the link mechanism has the first to fourth arms, is generally configured in a W shape, and is a link mechanism when extended compared to the length of the link mechanism when contracted. It is possible to further increase the length of this, and thereby it is possible to carry a longer distance.
[0021]
The present invention according to claim 4 is interlocked with the rotation of the first arm so that the direction of the object to be conveyed when held on one side is the same as the direction of the object to be conveyed when conveyed to the other side. Then, the holding means is rotated.
[0022]
According to the present invention, it is possible to convey the object to be conveyed from one side to the other side without changing the direction of the object to be conveyed.
[0025]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a side view showing a robot system 2 including a transfer apparatus 1 according to an embodiment of the present invention, and FIG. 2 is a plan view thereof. The transfer device 1 is attached to the wrist 7 of the robot 3 and is used to transfer the workpiece W between the pair of press machines 20 and 21.
[0026]
The robot 3 is a 6-axis vertical articulated robot, and has a base 4, a lower arm 5, an upper arm 6, and a wrist 7 fixed to the floor. The lower arm 5 is attached to the base 4 so that the lower end of the lower arm 5 is turnable around a vertical first axis J1 and is rotatable back and forth around a horizontal second axis J2. A base end portion of the upper arm 6 is attached to an upper end portion of the lower arm 5 so as to be rotatable up and down around a horizontal third axis J3. The wrist 7 attached to the tip of the upper arm 6 is rotatably attached around a fourth axis J4 parallel to the axis of the upper arm 6 and is rotatable around a fifth axis J5 perpendicular to the axis of the upper arm 6. Mounted on. And the conveying apparatus 1 is attached to this wrist 7 through the rotation connection part 8 so that rotation is possible.
[0027]
The rotary connecting portion 8 has a rotational drive source M7 composed of a servo motor, and attaches the transport device 1 to the wrist 7 so as to be rotatable around a seventh axis J7 coaxial with the sixth axis J6 of the wrist 7. The joint axes J1 to J6 and the seventh axis J7 of the robot 3 are individually rotated by a servo motor.
[0028]
The transport apparatus 1 includes a link mechanism 9 including a first arm 10 and a second arm 11, and a holding unit 12 provided at a distal end portion of the second arm 11. A rotation connecting portion 8 is provided, and the first arm 10 is supported by the robot 3 so as to be rotatable about the seventh axis J7. The second arm 11 has the same length as the first arm 10, and the base end portion 11a is attached to the distal end portion 10b of the first arm 10 so as to be rotatable around a rotation axis A1 parallel to the seventh axis J7. The holding means 12 is attached to the distal end portion 11 b of the second arm 11. The holding means 12 has a plurality of suction cups 13 and holds the workpiece W in a detachable manner with these suction cups 13.
[0029]
The robot 3 of the robot system 2 is installed at the center of the two press machines 20 and 21, and conveys the workpiece W from the press machine 20 on one side (left side in FIG. 2) to the press machine 21 on the other side (right side in FIG. 2). To do. The robot 3 holds the transfer device 1 almost horizontally so that the seventh axis J7 is vertical, extends the link mechanism 9 to one press machine 20 side, holds the workpiece W, and contracts the link mechanism 9. Then, the workpiece W is extended to the other side and conveyed to the other press machine 21. After the completion of conveyance, the link mechanism 9 is again extended to one side, and the above-described conveyance operation is repeated. As shown in FIG. 2, the workpiece W can be transported along the transport path L that is a straight line connecting the pair of press machines 20 and 21 as shown in FIG.
[0030]
Next, the transfer operation of the robot system 2 will be described in more detail with reference to FIG.
[0031]
First, in order to hold the workpiece W arranged on one press machine 20, the link mechanism 9 is extended to the one workpiece 20 side as shown in FIG. At this time, in the link mechanism 9, the first arm 10 and the second arm 11 extend linearly along the conveyance path L of the workpiece W. In this way, when the link mechanism 9 is extended, the holding means 12 provided at the tip of the second arm 11 can hold the workpiece W of one press machine 20 so that the robot 3 that holds the transfer device 1 can hold the workpiece 3. The upper arm 6 is tilted to one side (left side in FIG. 3).
[0032]
In this state, the work W is sucked and held by the suction cups 13 of the holding means 12, and the first arm 10 is moved in the first rotation direction (clockwise in FIG. 3) about the seventh axis J7 of the base end portion 10a. When the second arm 11 is rotated, the second arm 11 is rotated in the second rotation direction (counterclockwise in FIG. 3) that is opposite to the first rotation direction about the rotation axis A1 of the base end portion 11a. 3, the link mechanism 9 is folded and contracted as shown in FIG. 3 (2), and the workpiece W begins to move to the other (right side in FIG. 3). In this way, the link mechanism 9 is contracted, and the upper arm 6 is rotated to one side by the robot 3 so that the transport device 1 is translated along the transport path L.
[0033]
When the first arm 10 is further rotated in the first direction, the workpiece W reaches the center between the press machines 20 and 21 as shown in FIG. At this time, the link mechanism 9 contracts completely, and the first arm 10 and the second arm 11 of the link mechanism 9 overlap. At this time, the conveyance device 1 is perpendicular to the conveyance path L of the workpiece W, and the workpiece W is disposed directly below the base end portion 10 a of the first arm 10.
[0034]
By continuing to rotate the first arm 10 in the first rotation direction and rotating the second arm 11 in the second rotation direction, the link mechanism 9 extends to the other side as shown in FIG. First, as shown in FIG. 3 (5), when the first arm 10 and the second arm 11 extend linearly, the work W held at the tip of the second arm reaches the press machine 21 on the other side. . Here, the work W is placed on the press machine 21 on the other side by releasing the suction holding by the holding means 12.
[0035]
In this way, the first arm 10 can be rotated 180 ° from one side, the link mechanism 9 extending toward one side can be contracted and extended to the other side, and the workpiece W can be extended from one side to the other. Can be transported. In order to return the holding means 12 to the press machine 20 on one side, the first arm 10 is now rotated 180 ° in the second rotational direction. As a result, the link mechanism 9 contracts at the center and further expands toward one side. In this way, the workpiece W can be conveyed between the presses by rotating the first arm 10 reciprocally by 180 ° between the one side and the other side. The reciprocating rotation of the first arm by 180 ° is performed by the wrist 7 of the robot 3.
[0036]
Further, the robot 3 linearly moves the wrist 7 along the conveyance path L so that the base end portion 10a of the first arm 10 reciprocates along the linear conveyance path L of the workpiece W during conveyance.
[0037]
While the first arm 10 rotates 90 ° in the first rotation direction from (1) to (3) in FIG. 3, the second arm 11 rotates 180 ° in the second rotation direction. That is, when the rotation angle of the first arm 10 is θ, the rotation angle of the second arm 11 is −2θ, and the second arm 11 is opposite while the first arm 10 rotates 180 ° from one side to the other side. Will rotate 360 ° in the direction. The rotation of the second arm 11 rotates in conjunction with the rotation of the first arm 10.
[0038]
Next, the internal mechanism of the first arm 10 and the second arm 11 that rotate in conjunction with each other will be described. FIG. 4 is a plan view showing an internal mechanism of the transport apparatus 1, and FIG. 5 is a side view thereof.
[0039]
The first arm 10 has a hollow first arm main body 22, and is connected to the wrist 7 via the rotation connecting portion 8. Inside the first arm body 22, a first sun gear 25 having a rotation axis that is a seventh axis J7 that is coaxial with the axis J6 of the wrist 7 is provided on the base end 10a side. The first sun gear 25 is rotationally driven by the servo motor M7 of the rotary connecting portion 8. A first planetary gear 26 that is rotatably supported around a rotation axis A1 parallel to the seventh axis J7 is provided at the distal end portion 10b of the first arm body 22, and the first planetary gear 25 to the first planetary gear 26 are provided. A timing belt 27 is wound around the gear 26. The first planetary gear 26 is rotatably supported on the first arm main body 22 by a bearing 28, and the base end portion 11 a of the second arm 11 is fixed, and the second planetary gear 26 is integrated with the second planetary gear 26. The arm 11 rotates.
[0040]
As described above, the first arm 10 is driven to rotate 180 ° at the wrist 7, and the servo motor M 7 of the rotary connecting portion 8 controls the first sun gear 25 so as to cancel the rotation of the first arm 10 by the wrist 7. Rotate. That is, when the wrist 7 rotates 180 ° in the first rotation direction, the first sun gear 25 is rotated 180 ° in the second rotation direction opposite to the first rotation direction. Hold it stationary without rotating it.
[0041]
Since the timing belt 27 is wound from the first sun gear 25 to the first planetary gear 26, the first arm 10 is moved in the first rotational direction (see FIG. 4) with the gear 25 fixed as shown in FIG. 4 (clockwise on the paper surface of FIG. 4), the timing belt 26 rotates as indicated by the arrow in FIG. 4, thereby rotating the first planetary gear 26 in the second rotation direction (counterclockwise). As described above, the first planetary gear 26 and the second arm 11 are fixed and rotate together. Therefore, by rotating the first arm 10 in the first rotation direction, the first planetary gear 26 is rotated. The second arm 11 can be rotated in conjunction with the gear 26 in the second rotation direction.
[0042]
As shown in FIG. 4, the first sun gear 25 is larger than the first planetary gear 26, and when the number of teeth of the first sun gear 25 is N, the number of teeth of the first planetary gear 26 is N / 2. Accordingly, when the first arm 10 is rotated 180 °, the first planetary gear 26 is rotated 360 °. That is, the second arm 11 can be rotated 360 ° in the second rotation direction by rotating the first arm 10 180 ° in the first rotation direction. Thus, as shown in FIG. 3, when the first arm 10 is rotated 180 ° from one side to the other side, the second arm 11 rotates 360 ° in the opposite direction in conjunction with this, The workpiece W can be transported from one side to the other side. Further, since the length of the first arm 10 and the length of the second arm are both the same W, the workpiece W held at the tip of the second arm 11 is linearly formed by rotating the first arm 10 by 180 °. Can be moved to.
[0043]
FIG. 6 is a diagram illustrating the operation of the transport apparatus according to another embodiment of the present invention. In this embodiment, only the operation is different from the transfer device 1 of the above-described embodiment. That is, as shown in FIG. 3, the transport device 1 is folded outward with respect to the robot 3, whereas the transport device is folded inward as shown in FIG.
[0044]
That is, when the workpiece W is transferred from one side to the other side, the first arm 10 rotates counterclockwise, and the second arm 11 rotates clockwise. Even in this case, in the intermediate portion, as shown in FIG. 6 (3), the first arm 10 and the second arm 11 are folded so as to overlap each other, and the upper arm 6 of the robot 3 and the transfer device 30 are moved along the transfer path L. They are arranged in a straight line so as to be perpendicular to the surface. Thereafter, the first arm 10 is further rotated counterclockwise, and the conveying device 30 is extended to the other side to convey the workpiece W.
[0045]
FIG. 7 is a diagram illustrating the operation of the transport device 35 according to another embodiment of the present invention. In the above-described transfer device shown in FIG. 3 or FIG. 6, the workpiece W is inverted by 180 ° while being transferred from one press machine 20 to the other press machine 21, but in the transfer device 35 of the present embodiment, FIG. As shown in FIG. This is because the holding means 12 provided at the distal end portion of the second arm 11 is provided so as to be rotatable around a rotation axis A2 parallel to the seventh axis J7, and interlocks with the rotation of the first arm 10 and the second arm 11. This is because the holding means 12 rotates.
[0046]
More specifically, as shown in FIG. 7 (1), after the conveying device 35 is extended to one press machine 20 side and the work W is held by the holding means 12, the first arm 10 is moved in the first rotational direction ( The second arm 11 rotates in the second rotation direction (counterclockwise in FIG. 7) and the holding means 12 rotates in the first direction (clockwise in FIG. 7). Rotate. By rotating in this way, the workpiece W starts to move while maintaining the same direction as the held state.
[0047]
When the first arm 10 is further rotated in the first direction, the conveying device 35 is folded at the central portion between the presses 20 and 21 as shown in FIG. 7 (3) through the state shown in FIG. 7 (2). It is. At this time, the upper arm 6 of the robot 3 and the first arm 10 and the second arm 11 of the transfer device 35 are folded perpendicularly to the transfer path.
[0048]
Further, by rotating the first arm 10 in the first direction, the transfer device 35 extends to the other side while maintaining the direction of the workpiece W in the same direction. In this way, through the state of FIG. 7 (4), the first arm 10 and the second arm 11 are extended to a straight line, and the workpiece W is conveyed to the other press machine 21. As shown in FIG. 7 (5), the orientation of the workpiece W after completion of conveyance is the same as the orientation of the workpiece W at the beginning of conveyance shown in (1). In this way, in the transfer device 35, the holding means 12 is rotated in conjunction with the rotation operation of the first and second arms 10 and 11, so that the orientation of the workpiece W is always kept constant during transfer and the workpiece W is reversed. It can convey from one side to the other side without making it.
[0049]
When the workpiece W is transferred from one side to the other side, the first arm 10 rotates in the first rotation direction (clockwise), and the second arm 11 rotates with respect to the first arm 10 in the second rotation direction ( Rotate 360 ° counterclockwise. At this time, as can be seen from (1) to (5) of FIG. 7, the holding means 12 rotates 180 ° with respect to the second arm 11 in the first rotation direction (clockwise). That is, when the rotation angle of the first arm 10 is θ, the rotation angle of the second arm 11 is −2θ, and the rotation angle of the holding unit 12 is θ. Next, the rotation mechanism of the second arm 11 and the holding means 12 that rotate in conjunction with the rotation of the first arm 10 will be described.
[0050]
FIG. 8 is a plan view showing the internal mechanism of the transport device 35, and FIG. 9 is a side view thereof. The second arm 11 that moves in conjunction with the first arm 10 is the same mechanism as the transfer device 1 described above. That is, the first sun gear 25 provided at the base end portion of the first arm body 22, the first planetary gear 26 provided at the tip end portion of the first arm body 22 and rotating integrally with the second arm 11, and these The second arm 11 is rotated by rotating the first arm 10 by the timing belt 27 wound around the gears 25 and 26.
[0051]
A similar mechanism is used for the rotation of the holding means 12. That is, the second sun gear 36 is provided at the base end of the hollow second arm body 39, the second planetary gear 37 is provided at the tip, and the timing belt 38 is wound around them. As shown in FIG. 10, the second sun gear 36 is fixedly connected to the first arm body 22 and rotates integrally with the first arm 10. The first planetary gear 26 and the second sun gear 36 have a common rotation axis A1, but the first planetary gear 26 is fixedly connected to the second arm body 39 via the shaft 34 as shown in FIG. The second sun gear 36 is fixedly connected to the first arm body 22 and is integrated with the first arm 10. The second sun gear 36 is fixedly connected to the first arm body 22. The second planetary gear 37 is pivotally supported by the second arm main body 39 so as to be rotatable around the rotation axis A2 parallel to the rotation axis A1 at the tip 11a of the second arm 11 main body.
[0052]
As can be seen from FIGS. 7A to 7, the second arm 11 rotates in the second rotational direction relative to the first arm 10 while the first arm 10 rotates 180 ° in the first rotational direction. 360 °. That is, the first arm 10 rotates in the first rotation direction by 360 ° relative to the second arm 11. As described above, since the second sun gear 36 is fixed to the first arm 10, when the first arm 10 rotates 360 ° in the first rotation direction with respect to the second arm 11, the second sun gear 36 also rotates 360 ° in the first rotational direction relative to the second arm 11, that is, the second arm body 39.
[0053]
Since the timing belt 38 is wound from the second sun gear 36 to the second planetary gear 37, the second planetary gear 37 also rotates in the first rotation direction. The holding means 12 is fixedly connected to the second planetary gear 37 and rotates together with the second planetary gear 37. Since the number of teeth of the second sun gear 36 is ½ of the number of teeth of the second planetary gear 37, the rotation angle of the holding means 12 is ½ of the rotation angle of the second planetary gear 36. When the arm 10 is rotated 180 °, the holding means 12 is also rotated 180 °.
[0054]
In this manner, when the first arm 10 is rotated by the angle θ in the first rotation direction by the servo motor M7 of the rotary connecting portion 8, the second arm 11 is rotated by the angle 2θ in the second rotation direction, and the holding means 12 Is rotated by an angle θ in the first rotation direction. Thus, the work W can always be conveyed in a fixed direction by rotating the first arm 10, the second arm 11 and the holding means 12 in conjunction with each other.
[0055]
Further, although the figure transport device 35 is configured to be folded outside the robot 3 as shown in FIG. 7, it may be configured to be folded inside the robot 3 as shown in FIG. 11.
[0056]
FIG. 12 is a plan view showing an internal mechanism of a transport apparatus 40 according to still another embodiment of the present invention, and FIG. 13 is a side view thereof. The transport device 40 of this embodiment is characterized in that a third arm 41 and a fourth arm 42 are further provided in addition to the first and second arms 10 and 11. The first to fourth arms 10, 11, 41, and 42 have the same length W, respectively.
[0057]
The base end portion of the third arm 41 is rotatably connected around the rotation axis A2 of the tip end portion of the second arm 11, and the base end portion of the fourth arm 42 is connected to the tip end portion of the third arm 41 with the rotation. A holding means 12 is rotatably attached around a rotation axis A4 parallel to the rotation axis A3 at the tip of the fourth arm 42 so as to be rotatable around a rotation axis A3 parallel to the axis A2. As shown in FIG.
[0058]
Similarly to the first and second arms 10 and 11, the third and fourth arms 41 and 42 are internally provided with third and fourth sun gears 43 and 45, third and fourth planetary gears 44 and 46, respectively. There are timing belts 47 and 48 to be hooked, and the second, third and fourth arms 11, 41 and 42 and the holding means 12 rotate in conjunction with the rotation of the first arm 10.
[0059]
In order to convey the workpiece W, the first to fourth arms 10, 11, 41, 42 are straightly extended to the pressing machine 20 on one side, the workpiece W is held by the holding means 12, and the first arm 10 is moved to the first arm 10. 1 is rotated in the direction of rotation (clockwise in FIG. 12). Then, in conjunction with this, the second arm 11 rotates in the second rotation direction (counterclockwise), and in conjunction with this, the third arm 41 rotates in the first rotation direction (clockwise). In conjunction with this, the fourth arm 42 rotates in the second rotational direction (counterclockwise), and in conjunction with this, the holding means 12 rotates in the first rotational direction (counterclockwise). In this way, when the conveying device 40 contracts, the conveying device 40 is completely folded at the center of the pair of press machines 20 and 21, and when the first arm 10 is further rotated in the first direction, The fourth arms 10, 11, 41, 42 extend in a straight line on the other side, and the workpiece W can be conveyed to the other press machine 21. In this way, the workpiece W can be transported without being inverted.
[0060]
Also, in the conveying device 40, the length of the conveying device when folded is W, whereas the length of the conveying device when extended is 4W, and the conveying device 40 alone conveys a distance of 8W from one to the other. can do. 12 and 13, the transfer device 40 has an M shape and is folded outward on the upper arm 6 side of the robot 3. You may comprise so that it may fold.
[0061]
FIG. 14 is a plan view showing a configuration of a transport apparatus 50 according to still another embodiment of the present invention. The link mechanism 53 of the transport device 50 has first to third arms 10, 51, 52, and the length of the first and third arms 10, 52 is W, whereas the length of the second arm 51 is It is 2W. The proximal end of the second arm 51 is rotatably attached to the distal end of the first arm 10, and the proximal end of the third arm 52 is rotatably attached to the distal end of the second arm 51. The holding means 12 is rotatably attached to the front end portion. These first to third arms 10, 51, 52 and holding means 12 also rotate in conjunction with the rotation of the first arm 10 as described above.
[0062]
Accordingly, the first to third arms 10, 51, 52 are linearly extended to one side, the first arm 10 is rotated in the first rotation direction while holding the workpiece W, and the conveying device 50 is folded. By rotating the first arm 10 in the first rotation direction and extending the conveyance device 50 to the other side, the workpiece W can be conveyed without being reversed. In this transfer device 50, by setting the length of the second arm 51 to 2 W, only the three arms 10, 51 and 52 can transfer the same distance of 8 W as the M-shaped transfer device described above. . Further, the first arm 10 is not limited to rotating outward with respect to the upper arm 6 of the robot 3, but may be configured to rotate inward.
[0063]
In each of the embodiments described above, the rotation of the first arm 10 is transmitted to the other arm and the holding means by the timing belt and the gear. However, the present invention is not limited to such a method. For example, the chain and the sprocket wheel or the gear You may comprise so that rotation may be transmitted according to a row | line | column.
[0064]
FIG. 15 is a plan view showing a configuration of a transport apparatus 60 according to still another embodiment of the present invention. The link mechanism 68 of the transport device 60 has four first to fourth arms 61 to 64, and the base end portion of the first arm 61 rotates below the rotary connecting portion 8 attached to the wrist 7 of the robot 3. The base end portion of the third arm 63 is also rotatably attached below the rotary connecting portion 8. A base end portion of the second arm 62 is rotatably attached under the distal end portion of the first arm 61, and a base end portion of the fourth arm 64 is rotatably attached under the distal end portion of the third arm 63, The holding means 12 is attached to the second arm 62 and the fourth arm 54 below the distal ends of the second arm 62 and the fourth arm 54 via a connecting member 67. The tip of the second arm 62 and the connecting member 67 are rotatably connected, and the tip of the fourth arm 64 and the connecting member 67 are rotatable to the connecting member 67 at a position different from the tip of the third arm 63. Connected. The holding means 12 is fixed below the connecting member 67.
[0065]
The first to fourth arms 61 to 64 have the same length W, the first arm 61 and the fourth arm 64 are arranged in parallel, and the second arm 62 and the third arm 63 are arranged in parallel. Thus, a diamond-shaped link mechanism 68 is formed.
[0066]
Gears 65 and 66 are fixed to the distal ends of the second arm 62 and the fourth arm 64, respectively, and mesh with each other.
[0067]
In order to hold the workpiece W of the press machine 20 on one side, the first and third arms 61 and 63 are directed to one side. Then, the second arm 62 is aligned with the first arm 61, the fourth arm 64 is aligned with the third arm 63, and the link mechanism 9 extends toward the press machine 20 on one side. In order to convey the workpiece W to the press machine 21 on the other side, the first arm 61 is rotated in the first rotation direction, the third arm 63 is rotated in the second direction, and the link mechanism 68 is contracted. Then, the workpiece W starts to move to the other side.
[0068]
When the workpiece W passes under the base ends of the first and third arms 62 and 63, the second arm 62 overlaps the first arm 61 and the fourth arm 64 overlaps the third arm 63. The workpiece W is disposed under the base end portions of the first and third arms 61 and 63. Further, when the first arm 61 is rotated in the first rotation direction (clockwise), the workpiece W is further conveyed to the other side, and the first arm 61, the second arm 62, the third arm 63, and the fourth arm 64 are conveyed. Are extended in a straight line, the workpiece W is conveyed to the press machine 21 on the other side.
[0069]
As described above, the holding means 12 is connected to the distal ends of the second arm 62 and the fourth arm 64 via the connecting member 67, and the distal end of the second arm 62 and the distal end of the third arm 63 are different. Since it is connected to the connecting member 67 at a position, the direction of the connecting member 67 is constant during conveyance. Therefore, the direction of the holding means 12 fixed to the connecting member 67 is also constant, and thus the work W can be transported without being reversed.
[0070]
FIG. 16 is a plan view showing a configuration of a transport apparatus 70 according to still another embodiment of the present invention. The transfer device 70 is similar in structure to the transfer device 60 shown in FIG. 15, and a rhombus-like link mechanism 75 is formed by the first to fourth arms 71 to 74, but the arms 71 to 74 are parallel to each other. It consists of a crank mechanism. That is, the first arm 71 includes first to fourth links 81 to 84, the second arm 72 includes four links 84 to 87 having the link 84 of the first arm 71 in common, and the third arm 73. Is composed of four links 81, 89 to 91 having the link 81 of the first arm 71 in common, and the fourth arm 74 has four links having the link 91 of the third arm and the link 87 of the second arm in common. The holding means 12 is attached below the common link 87 of the second arm 72 and the fourth arm 74.
[0071]
By rotating the first arm 71 in the second direction (counterclockwise) from one side to the lower side, the workpiece W can be conveyed from one press machine 20 to the other press machine 21 without being reversed. .
[0072]
FIG. 17 is a plan view showing a transport apparatus 100 according to still another embodiment of the present invention. The transfer device 100 is similar to the M-shaped transfer device 40 described in FIG. 12 and includes a link mechanism 105 including four arms 101 to 104. In the present embodiment, each of the arms 101 to 104 is Similarly to the transfer device 70 shown in FIG. Similarly to the transport device 40, a gear and a timing belt are incorporated in the link 106 of the first arm 101, the link 107 of the second arm 102, the link 108 of the third arm 103, and the link 109 of the fourth arm 104. The As a result, the link mechanism 105 expands and contracts similarly to the transport device 40, and the work W can be transported without being reversed. Further, the conveying device 100 is not limited to an M shape as shown in FIG. 17, and may be a W shape symmetrical to the M shape.
[0073]
FIG. 18 is a plan view showing a transport apparatus 110 according to still another embodiment of the present invention. The transfer device 111 is similar to the transfer device 50 shown in FIG. 14 and includes a link mechanism 114 composed of three arms 111 to 113. Each arm 111 to 113 is a parallel crank as in the transfer device 100 described above. It consists of a mechanism. Further, gears and timing belts are built in the link 115 of the first arm 111, the link 116 of the second arm 112, and the link 117 of the third arm 113, respectively, and operate in the same manner as the transport device 50. As a result, the link mechanism 114 of the transport device 110 is also expanded and contracted, and the work W can be transported without being reversed.
[0074]
FIG. 19 is a plan view showing a transport apparatus 120 according to still another embodiment of the present invention. The transport device 120 includes a link mechanism 127 including first to sixth arms 121 to 126. The first arm 121 and the fourth arm 124 are attached so that their base ends are rotatable below the rotary connecting portion 8, and the base end of the second arm 122 rotates below the tip of the first arm 121. The fifth arm 125 is rotatably mounted under the tip of the fourth arm 124, the third arm 123 is rotatably mounted under the tip of the second arm 122, and The six arms 126 are rotatably attached under the tip of the fifth arm 125, and a connecting member 127 is rotatably attached under the tip of the third arm 123 and the sixth arm 126, and the connecting member 127. The holding means 12 is fixed below.
[0075]
Gears 128 and 129 that mesh with each other are fixed to the tip of the third arm 123 and the tip of the sixth arm 126, and the link mechanism 127 can be expanded and contracted to move the workpiece W from one side to the other. it can.
[0076]
The second arm 122 and the fifth arm 125 are rotatably connected to each other at the center. FIG. 20 is a perspective view showing a connected state of the second arm 122 and the fifth arm 125. For convenience of illustration, the second arm 122 is shown by hatching in FIGS. 19 and 20. The second arm 122 includes an upper second arm 122b and a lower second arm 122a, which are connected at the center. Similarly, the fifth arm is composed of an upper fifth arm 125b and a lower fifth arm 125a, which are connected in a vertical manner at the center and fixed together. The pair of second arms 122a and 122b sandwich the connecting portion of the fifth arm 125 up and down and are connected inside the fifth arm 125 so as to be integrated.
[0077]
As can be seen from FIG. 19, when the workpiece W is moved from one side to the other side, the second arm 122 and the fifth arm 125 overlap at the center, and the crossing direction is reversed on the other side. When the second arm 122 and the fifth arm 125 overlap, the lower second arm 122a passes under the upper fifth arm 125b, and the lower fifth arm 125a passes under the upper second arm 122b. Thereby, the workpiece | work W can be conveyed from one side to the other side, without each arm 121-126 interfering.
[0078]
Further, as shown in FIG. 20, the connecting portion between the second arm 122 and the fifth arm 125 is cut in half in the vertical direction. This notch prevents the second arm 122 and the fifth arm 125 from interfering with each other during the movement of the workpiece W.
[0079]
FIG. 21 is a plan view showing a transport apparatus 130 according to still another embodiment of the present invention. The transfer device 130 is similar to the transfer device 120 shown in FIG. 19 and includes a link mechanism including a first arm 131 to a sixth arm 136, and each of the arms 131 to 136 includes a parallel crank mechanism. Accordingly, the links 132a and 132b of the second arm 132 and the links 135a and 135b of the fifth arm 135 are connected in a vertically separated manner at the center as shown in FIG.
[0080]
Further, the links 131a and 131b of the first arm 132 and the second arms 132a and 132b are connected via a link 140a. As shown in FIG. 22, the ends of the second arms 132a and 132b are cut in half in the vertical direction, and the link 140a is provided in the cut portions. This prevents the link 140a from interfering with the links 135a and 135b of the fifth arm 135 during conveyance of the workpiece W. Such a configuration includes a link 140d at the connecting portion between the second arm 132 and the third arm 133, a link 140b at the connecting portion between the fourth arm 134 and the fifth arm 135, and the fifth arm 135 and the sixth arm 136. The same applies to the link 140c of the connecting portion.
[0081]
FIG. 23 is a perspective view showing a connecting portion between the links 133a and 133b of the third arm 133 and the links 136a and 136b of the sixth arm. As shown in the drawing, the distal end portion of the link 133a of the third arm 133 and the distal end portion of the link 136a of the sixth arm are cut in half vertically, and the link 141 is connected to the cut portion. This prevents the link 133a and the link 136b from interfering when the workpiece W is transported. The connection between the link 133b and the link 136b is the same. Then, a link 141 is connected under these connecting portions, and the holding means 12 is fixed under the link 141. Such a link mechanism of the conveying device 130 can be expanded and contracted to convey the workpiece W from one side to the other side.
[0082]
In each of the above-described embodiments, each conveyance device is configured to be attached to the wrist of the robot. However, the present invention is not limited to such a form, for example, the base end of the first arm is fixedly held with respect to the floor, You may comprise so that it may convey only with a conveying apparatus. Further, the holding means is not limited to the suction holding as described above, and may be configured to be held using a hand or the like.
[0083]
【The invention's effect】
As described above, the conveyance device of the present invention extends and contracts the link mechanism and reciprocates between one side and the other side to convey the object to be conveyed, so that the conventional conveyance device that slides using a screw screw is used. Compared to this, it can be transported much faster.
[0084]
The link mechanism is rotatably provided at the first arm and the distal end of the first arm, and is linked to the first rotation direction of the first arm and is a second direction opposite to the first rotation direction. A second arm that rotates in the direction of rotation of the second arm, and a holding means that holds the object to be conveyed is provided at the tip of the second arm, and the first arm is rotated in the first direction of rotation from one side to the other side. Thus, the object to be conveyed can be conveyed linearly.
[0085]
Further, by configuring the holding means to rotate in conjunction with the rotation of the arm, it is possible to convey the object to be conveyed without inverting it.
[0086]
By providing the third arm and further the fourth arm, the transport distance can be increased.
[Brief description of the drawings]
FIG. 1 is a side view showing a robot system 2 using a transfer apparatus 1 according to an embodiment of the present invention.
FIG. 2 is a plan view of the robot system 2. FIG.
FIG. 3 is a diagram illustrating a conveyance process by the conveyance device 1;
4 is a plan view showing an internal mechanism of the transport apparatus 1. FIG.
FIG. 5 is a side view showing an internal mechanism of the transport apparatus 1;
FIG. 6 is a diagram illustrating a transport process of another form of the transport apparatus 1;
7 is a diagram illustrating a transport process of the transport device 35. FIG.
FIG. 8 is a plan view showing an internal mechanism of the transport device 35. FIG.
9 is a side view showing an internal mechanism of the transport device 35. FIG.
10 is a cross-sectional view showing the vicinity of the first planetary gear 26 and the second sun gear 36 of the transport device 35. FIG.
FIG. 11 is a diagram illustrating a transfer process of another form of the transfer device 35;
12 is a plan view showing an internal mechanism of the transport apparatus 40. FIG.
13 is a side view showing an internal mechanism of the transport apparatus 11. FIG.
14 is a plan view showing a configuration of a transport device 50. FIG.
FIG. 15 is a plan view showing a configuration of a transport device 60. FIG.
FIG. 16 is a plan view showing a configuration of a transport apparatus.
FIG. 17 is a plan view showing a transfer apparatus 100 according to still another embodiment of the present invention.
FIG. 18 is a plan view showing a transfer apparatus 110 according to still another embodiment of the present invention.
FIG. 19 is a plan view showing a transfer apparatus 120 according to still another embodiment of the present invention.
20 is a perspective view showing a connected state of the second arm 122 and the fifth arm 125. FIG.
FIG. 21 is a plan view showing a conveying apparatus according to still another embodiment of the present invention.
FIG. 22 is a perspective view showing a connection state between the first arms 131a and 131b and the second arms 132a and 132b.
FIG. 23 is a perspective view showing a connection state between the third arms 133a and 133b and the sixth arms 136a and 136b.
[Explanation of symbols]
1,35,40,50,60,70,100,110,120,130, Conveying device
2 Robot system
3 Robot
8 Rotating connection
9, 53, 68, 75, 105 Link mechanism
10, 61, 71, 101, 111, 121, 131 First arm
11, 51, 62, 72, 102, 112, 122, 132 Second arm
12 Holding means
41, 52, 41, 63, 73, 103, 113, 123, 133 Third arm
42, 42, 64, 74, 104, 124, 134, 4th arm

Claims (4)

  1. A link mechanism that is provided on the wrist of the robot, contracts from a state of being extended to one side, and can be extended to a side opposite to the one side;
    A holding means provided at the tip of the link mechanism and detachably holding the object to be conveyed;
    In a conveying device that extends a link mechanism and reciprocates between a pressing machine installed on one side and a pressing machine installed on the other side to convey an object to be conveyed along a straight conveyance path ,
    The link mechanism includes a first arm;
    A first arm, a driving source for rotationally driving the base end portion of the first arm as a heart during rotation,
    A proximal end portion rotatably connected to the distal end portion of the first arm, rotating in conjunction with the rotation of the first arm, and having a second arm provided with the holding means on the distal end side;
    When transporting an object to be transported from the one side press to the other side press, the first arm is centered on its base end while the wrist of the robot is linearly moved from one side to the other side horizontally. The second arm is rotated in the first rotation direction, and the second arm is rotated in the second rotation direction opposite to the first rotation direction around the base end in association with the rotation, and is held by the holding means. The transported apparatus is characterized in that the transported object is moved linearly and transported from the pressing machine on one side to the pressing machine on the other side.
  2. A third arm interposed between the second arm and the holding means, a base end portion rotatably connected to the tip end portion of the second arm, and a holding means provided on the tip end side;
    When the second arm rotates in the second rotation direction with the base end portion as the rotation center, the third arm rotates in the first rotation direction with the base end portion as the rotation center in conjunction with this. The conveying apparatus according to claim 1.
  3. A fourth arm interposed between the third arm and the holding means, a base end portion rotatably connected to a tip end portion of the third arm, and a holding means provided on the tip end side;
    When the third arm rotates in the first rotation direction with the base end portion as the rotation center, the fourth arm rotates in the second rotation direction with the base end portion as the rotation center in conjunction with this. The conveying apparatus according to claim 2.
  4.   The holding means is rotated in conjunction with the rotation of the first arm so that the direction of the conveyed object when held on one side is the same as the direction of the conveyed object when conveyed to the other side. The transport apparatus according to any one of claims 1 to 3, wherein the transport apparatus is characterized in that
JP2000106611A 2000-04-07 2000-04-07 Transport device Expired - Fee Related JP3652211B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000106611A JP3652211B2 (en) 2000-04-07 2000-04-07 Transport device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2000106611A JP3652211B2 (en) 2000-04-07 2000-04-07 Transport device
US09/824,760 US6570356B2 (en) 2000-04-07 2001-04-04 Robot system
KR10-2001-0018273A KR100424326B1 (en) 2000-04-07 2001-04-06 Robot system
EP01108751A EP1142674A3 (en) 2000-04-07 2001-04-06 Robot system for transferring workpieces along a straight line

Publications (2)

Publication Number Publication Date
JP2001287187A JP2001287187A (en) 2001-10-16
JP3652211B2 true JP3652211B2 (en) 2005-05-25

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Country Link
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5221017B2 (en) * 2005-09-27 2013-06-26 株式会社安川電機 Transport system
JP4761054B2 (en) * 2006-04-04 2011-08-31 株式会社安川電機 Articulated robot
JP2008254138A (en) * 2007-04-06 2008-10-23 Yaskawa Electric Corp Articulated robot
JP5098562B2 (en) * 2007-10-17 2012-12-12 株式会社安川電機 Workpiece transfer robot and transfer method
JP6582492B2 (en) * 2015-03-31 2019-10-02 セイコーエプソン株式会社 Robot system

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