JPH04118951U - automatic processing system - Google Patents

Abstract

(57) [Summary] [Purpose] In an automatic processing system in which a robot R is fixed at a work station S along a conveyor line 1, workpieces are transferred between the conveyor line 1 and the robot R at each work station S. The operation rate of the robot R is improved by making it possible to perform the robot R independently. [Structure] Conveyor line 1 is divided between work stations S and fixed rails 2 are laid. A truck 7 is provided at the part where the fixed rails 2 are divided, and a delivery rail 8 and a passing rail 9 that connect the divided fixed rails 2 to each other, and a fixing jig 12 for the workpiece W are provided on both sides of the delivery rail 8.
A workpiece cart 3 is provided to transfer a workpiece W between an entrance 2a and an exit 2b of a fixed rail 2. At the working position P where the trolley 7 is on the side of the robot R, the passing rail 9 connects the adjacent fixed rails 2 to each other, and at the standby position Q, the delivery rail 8 connects the fixed rails 2 to each other.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This idea was developed for industrial use at multiple work stations along the conveyor line. The robot is placed in a fixed position, and the workpieces being conveyed on the conveyor line are placed against the robot. The workpiece is sent to the processing position where processing is performed, and the processed workpiece is sent back to the main line. Regarding automatic processing systems for collection.

0002

[Conventional technology]

As a conventional technology of this type of automatic processing system, Japanese Patent Application Laid-Open No. 55-73500 , JP-A-57-19211, JP-A-59-61575, etc. are publicly known. Ru. These automatic processing systems all process workpieces transported by conveyor lines. The machine is positioned and fixed in a predetermined position, and the industrial robot performs processing in this fixed state. ing.

0003

[Problem that the idea aims to solve]

In the conventional system mentioned above, while the robot is machining the workpiece, the controller The bear line is stopped. Therefore, multiple robots are placed along the conveyor line. If the machining time is different for each robot when installing robots, the machining time will be The conveyor line must be stopped for the longest robot, while Other robots are inactive, reducing the operating rate of the entire automatic processing system. You cannot escape the disadvantage of doing so.

0004 This invention solves the above problems and is intended for use in conveyor lines and industrial applications. By improving the way workpieces are transported between robots and robots, the operation of automatic processing systems can be improved. The purpose is to improve labor efficiency and increase productivity.

[0005]

[Means to solve the problem]

In this invented automatic processing system, multiple industrial rollers are placed along a conveyor line. The bots are stationary, and the working position and conveyor are set for each industrial robot. Automatically transfers workpieces to and from the line.

[0006] The conveyor line faces each end of the plurality of industrial robots. It is divided, and between this divided part there is a fixed rail and a rail that crosses the fixed rail. The back-moving carts are installed alternately, and the top surface of the cart has a separated fixed rail. The delivery rails and passing rails that connect the rails, and the delivery rails in between. Fixing jigs for capturing and fixing the workpiece must be provided, and fixing rails must be installed. At least one workpiece carriage that transfers the workpieces between the inlet and the outlet is fixed. When the trolley is placed on a fixed rail and in the working position, The passing rail connects the adjacent fixed rail, and the trolley retreats from the working position and returns to the standby position. The transfer rail is configured to connect adjacent fixed rails when It is a requirement that the

[0007]

[Effect]

All workpieces are transferred between the conveyor line and each industrial robot using workpiece trolleys. and carried out by a trolley. The trolley moves between the working position and the standby position, and When the passing rail is connected to the separated fixed rails, the workpiece trolley is can be moved to the next work station via fixed and pass-through rails It is said that Furthermore, when the trolley is in the standby position, the delivery rail is the fixed rail. This allows the work cart to be transferred to the delivery rail. fixed treatment The tool receives the workpiece from the workpiece cart that has been transferred to the cart, or when the processing is completed. Transfer the finished work to the work cart.

[0008] In this way, at each work station, the processed work is transferred to the work cart, Only while the unprocessed work is received from the work cart and the cart returns to the working position. Industrial robots go dormant. i.e. influenced by other work stations. Processing and workpiece transport can be performed independently. Therefore, as a whole system, the It can improve the operating rate of industrial robots and minimize the downtime of conveyor lines.

[0009]

【Example】

Hereinafter, embodiments of the present invention will be described based on the drawings. Figures 1 to 4 show the fruit of this idea. An automatic processing system according to an example is shown. In Fig. 2, 1 provides an unprocessed workpiece W. This is a conveyor line that supplies and collects processed workpieces W1. This conveyor There are three work stations S along Inn 1, and each station S has an industrial Robot R is stationed. The industrial robot R in the figure is a welding robot, and the Equipped with a welding torch on the final arm. The working area of the welding torch is indicated by a chain double-dashed line. There is.

0010 Conveyor line 1 consists of a pair of roller conveyors and a group of work stations. It is divided with S in between. A fixed rail 2 is laid between the divided parts. The fixed rail 2 is divided into sections with each work station S in between, as shown in Figure 2. As shown, a work cart 3 for supplying work is waiting on the rail on the entrance 2a side. A work cart 4 for carrying out the work is waiting on the rail on the exit 2b side.

[0011] A base 5 is provided between each divided portion of the fixed rail 2 in a state perpendicular to the fixed rail 2. , a trolley 7 is guided in a reciprocating manner along a pair of rails 6 provided on its upper surface. . The trolley 7 can run by itself using a traveling mechanism not shown, and passes through the delivery rail 8 on its upper surface. Rails 9 are provided at two locations in the longitudinal direction of the truck 7. These both rails 8 and 9 , the workpiece carts 3 and 4 are placed on the cart 7 by connecting the divided parts of the fixed rail 2. or move to the next work station S by passing the trolley 7. forgive. The wheels 10 of the truck 7 are shown in FIG.

0012 On the trolley 7, in addition to the rails 8 and 9, there is a fixing jig for capturing and fixing the workpiece W. 12 are provided. As shown in FIG. 3, the fixing jig 12 holds the delivery rail 8 between them. A motor 14 and a work clamper 15 are mounted on one frame 13. A bearing 16 and a work clamper 15 are provided on the other frame 13. War The clamp W is fixed at both ends between an L-shaped surface plate 17 and a clamp claw 18, and the motor By rotationally driving the motor 14, it rotates around the horizontal axis.

[0013] The workpiece W fixed with the fixing jig 12 is mounted on the trolley 7 as one of the industrial robots R. The state of being located at the working position P set on the side (the state of Fig. 1) and the state of evacuation from this state. and moved to the end of the rail 6 farthest from the industrial robot R (Fig. 3)). When the trolley 7 is at the working position P, the passing rail 9 connects adjacent fixed rails 2 to each other, and when the trolley 7 is at the standby position Q, A delivery rail 8 connects the fixed rails 2 to each other.

[0014] In FIGS. 3 and 4, the work cart 3 includes a vehicle frame 21 equipped with four wheels 20, It consists of a work holder 23 supported on this car frame 21 via a lifter 22. , it runs between the entrance 2a and the exit 2b of the fixed rail 2. The lifter 22 is a pair of flat An air cylinder (not shown) for vertically operating the row link 24 and work holder 23; The work holder 23 is in the standby position shown in imaginary lines in Figure 4, and in the working position shown in solid lines. It can be operated up and down between the moving positions. The work holder 23 consists of a pair of receiving frames 25. , the workpiece W is lifted and captured from the bottom side. The outside of the workpiece W is placed on the upper surface of the receiving frame 25. A holding recess 26 is formed corresponding to the contoured shape. The same goes for work cart 4 for carrying out. It is configured.

[0015] Next, the movement of the work carts 3 and 4 will be mainly explained. In Figure 2, each work The trolleys 3 and 4 are waiting at the entrance 2a and exit 2b of the fixed rail 2. 3 pieces of work Of the work stations S, welding work is performed at work stations S on both the left and right ends as seen in the figure. Welding work is being carried out at the central work station S, and after the welding work is completed, the trolley 7 is It is moving to the standby position Q.

[0016] In this state, at the left and right work stations S, the passing rails 9 are fixed to the fixed rails. Furthermore, at the central work station S, the delivery rail 8 is connected to the fixed rail. 2 is connected. At the same time as the central trolley 7 stops at the fixed position, the unloading truck 7 The workpiece cart 4 moves to receive the processed workpiece W1 and transfers it to the conveyor on the exit 2b side. Transfer to Align 1. At the same time as this transport, the workpiece W was captured and on standby. The supply workpiece cart 3 moves toward the central cart 7 and carries the workpiece W into the workpiece clamp. It is positioned between the pumps 15 and stopped. When the lifter 22 is driven downward in this state, The work W is supported by a surface plate 17 and clamped and fixed by clamp claws 18. Work W The transferred workpiece cart 3 returns to the standby position again and captures the next workpiece W. War Simultaneously with the evacuation of the truck 3, the truck 7 returns to the working position P and undergoes the welding process. this At this time, the workpiece W is only held and fixed at both longitudinal ends by the fixing jig 12. Therefore, if welding is performed while the motor 14 is intermittently rotating, the entire outer surface of the workpiece W will be Can be processed. Of course, the industrial robot R goes around to the bottom or back side of the workpiece W and performs the processing. You can also do some engineering work.

[0017] As described above, at each work station S, the cart 7 is moved at the same time as the processing is completed. Move and transfer the processed workpiece W1 to the workpiece trolley 4, and then transfer the unprocessed workpiece W. It is received from the work cart 3 and returned to the working position P again. Then, it undergoes processing. The passing rail 9 is positioned between the fixed rails 2 to allow the passage of the workpiece carts 3 and 4. It is possible to supply workpieces to other work stations S and collect workpieces while allowing errors. can. Therefore, compared to traditional machining systems, when the individual industrial robot is at rest The conveyor line stop time can also be shortened.

[0018] In the above embodiment, dedicated workpieces are used for supplying workpieces and for carrying out workpieces. Although a trolley was used, it is not necessarily necessary, as long as there is at least one work trolley. good. In addition, each work station will be arranged in a staggered manner with respect to the conveyor line. You can also do that. In addition, the work holder 23 does not necessarily match the outer shape of the work W. It is not necessary to form the holding recess 26, and a flat plate may be used.

[0019]

[Effect of the idea]

As explained above, in the automatic processing system of this invention, the delivery rail is placed on the cart. and a passing rail, and while the workpiece supported by the fixture is being processed, the passing rail is Connects fixed rails to facilitate movement of workpiece trolleys at adjacent workstations. I made it possible. This allows individual work stations to Processing and workpiece transport can be carried out independently without being affected by the station. This makes it possible to improve the operating rate of industrial robots and increase productivity as a whole system. It was possible to improve. In addition, the workpiece can be held directly with a workpiece holder, and this Since it is passed to a fixed jig, even large workpieces can be handled without any problems. Furthermore, compared to the case where the workpiece is mounted on a pallet jig and transported and processed, , it is possible to eliminate restrictions on the part to be machined on the workpiece and realize machining on the entire outer surface of the workpiece, allowing for a wide variety of It is advantageous in that it can handle various types of processing.

[Brief explanation of drawings]

FIG. 1 is a view taken along the line I-I in FIG. 2;

FIG. 2 is an overall plan view of a workpiece conveyance device according to an embodiment of the invention.

FIG. 3 is a side view showing a state in which the truck has moved to a standby position.

FIG. 4 is a front view showing a state in which the work cart is in the middle of movement.

[Explanation of symbols]

1...Conveyor line 2...Fixed rail 2a...Entrance 2b...exit 3, 4...Work trolley 7...Dolly 8...Delivery rail 9... Passing rail 12...Fixing jig 22...Lifter 23...Work holder W...Work S...Work station R...Industrial robot P...Working position Q...Standby position

Claims (1)

[Scope of utility model registration request] Claim 1: A plurality of industrial robots are installed along a conveyor line, and workpieces are automatically transferred between the work position set for each industrial robot and the conveyor line. In this automatic processing system, the conveyor line is divided facing each end of the plurality of industrial robots, and between the divided parts there is a fixed rail and a cart that reciprocates while intersecting the fixed rail. A delivery rail and a passing rail connecting the divided fixed rails are provided alternately on the top surface of the trolley;
Fixing jigs for capturing and fixing the workpiece with the delivery rail in between are provided, and at least one workpiece trolley that transfers the workpiece by moving between the entrance and exit of the fixed rail is mounted on the fixed rail. When the trolley is in the working position, the passing rail connects the adjacent fixed rails, and when the trolley is withdrawn from the working position and is in the standby position, the delivery rail connects the adjacent fixed rail. An automatic processing system configured to connect.