JPH0576965A - Press working device for work by means of press and robot - Google Patents

Abstract

PURPOSE:To provide a press working device in which a press working for a plate like work is carried out by at least two or more press machines, the automatic transportation of works between the press machines is carried out by industrial robots in a short cycle time, and the press working of the work is attained with a high efficiency. CONSTITUTION:This invention is constituted as such that at least two press machines 12, 14 are arranged with a space in between and the industrial robot 6 is provided between the press machines 12, 14, and that at this time the robot 16 is traveled on a straight line between both press machines along a traveling path 18, simultaneously a turning operation is executed by a robot arm 24 around the vertical axis, the operation of extension and contraction is also executed in the direction of the arm axis, and the work W is automatically transported in a short time by a robot hand 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press machine and a robot for pressing a work while automatically conveying the work between the press machines by using at least two press machines and an industrial robot. With regard to processing equipment, in particular, it is possible to efficiently perform automatic transfer between press machines by using the traveling function, turning function, and extension / contraction function of an industrial robot to shorten the cycle time in press processing of a work. A possible press processing device.

[0002]

2. Description of the Related Art Conventionally, in the process of pressing a work such as a sheet metal material to finish it into a product, it is often the case that a plurality of press machines are used to perform a plurality of types of press processing on the same material. is there. In the press processing of such a work, conventionally, the work is automatically conveyed between the press machines by making use of well-known industrial robots such as a vertical articulated robot, a cylindrical coordinate robot, and a Cartesian coordinate robot. Was being carried out.

[0003]

However, in the automatic transfer of a work by a vertical articulated robot or a cylindrical coordinate type robot, since these robots do not have a function of traveling a straight distance along the floor surface, a press machine is used. When the conveyance distance between the robot arms is long, the robot arm is inevitably extended to the maximum extent, and the work received by the hand at the tip of the robot arm from one press machine is swung by the robot arm over a predetermined angle to the other press arm. A method is used in which the work gripped by the robot hand is transferred to the machine and the work is transferred to the other press machine.Therefore, the inertia around the turning axis in the turning operation becomes large, and the speed of the turning operation is increased. There was a problem that became difficult. On the other hand, in the automatic conveyance of a work using a Cartesian coordinate type robot, the movement of the work held by the robot hand between two positions is performed by the combination of linear movements in the three orthogonal directions in the space. In the case of the combination of some kinds of linear motions, the motion speed in the linear axis direction is generally high enough from the mechanism of the robot itself so that it can oppose the rotational motion speed of the hand at the tip of the robot arm in a cylindrical coordinate robot, for example. However, there is a drawback that it is difficult to shorten the transport cycle time for transporting the work between the press machines because it cannot be realized. Therefore, according to the present invention, when the press working process of the work is performed by the plurality of press machines, in particular, even when the distance between the press machines is set to be relatively long, the work is automatically transferred from one press machine to the other press machine. The main purpose is to shorten the cycle time for transportation. Another object of the present invention is to provide a press machine and an industrial robot capable of shortening a processing time as much as possible when performing press processing on a work such as a sheet metal material by using two or more press machines. To provide a press processing device for a work according to.

[0004]

That is, according to the present invention, in a work press processing apparatus for automatically conveying a work between at least two press machines to perform a predetermined press working, A robot base that can move between pressing machines along a straight running path, a robot arm that is rotatable about a longitudinal axis of the robot base, and is extendable and contractable in the arm axis direction, and the robot. There is provided a press machine and a work press processing apparatus by a robot, which is configured by including an industrial robot having a work gripping hand attached to the tip of an arm.

[0005]

According to the above construction, even when the distance between the press machines is long, the robot base linearly travels along the linear travel path provided between the machines and the robot arm around the vertical axis of the robot base. It is possible to move the work gripping hand between one press machine and the other press machine for a short time by the combined operation of the swiveling and the expansion / contraction motion of the arm axis direction. Can be shortened. Hereinafter, the present invention will be described in more detail based on embodiments shown in the accompanying drawings.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing the configuration and working principle of an embodiment of a press processing apparatus for a work by a press machine and a robot according to the present invention, in which (a) is one of two press machines. 2B is a front view showing a process of taking out a work from the above machine, and FIG. 9B is a front view showing one process of carrying the work taken out from one press machine to the other press machine side by the linear traveling and the turning motion of the robot. , (C) is a front view showing a state where the other press machine is automatically conveyed to the closest position, and (d) is a front view showing a process of loading a work on the other press machine. FIG. 2 is a plan view showing an arrangement state of a press machine and an industrial robot in another embodiment of the press processing apparatus according to the present invention.

Referring to FIG. 1, this embodiment illustrates a press processing apparatus having a structure using two press machines and one industrial robot arranged between the two press machines. ing. In FIG. 1, two press machines 12,
14 are spaced apart from each other. When performing the press working process on the work W by making full use of such two press machines 12, 14, an industrial robot 16 is arranged between the two. This industrial robot 1
6, a traveling path 18 is provided with a proper length between the press machines 12 and 14, and a robot base 20 is provided on the traveling path 1
It is provided so as to run in the opposite direction from one press machine 12 to the other press machine 14 along the line 8. The traveling mechanism of the robot base 20 may be of a screw feed mechanism type including a combination of a ball screw shaft and a ball nut, as in the case of a well-known linear traveling robot, and an endless track type composed of a chain wheel and a chain. It may be a feed mechanism.

A robot body 22 is erected on the robot base 20, and the robot body 22 is configured to be rotatable with respect to the robot base 20 at a rotation angle of at least 180 ° about the vertical axis. A robot arm 24 is provided on the upper part of the robot body 22 so as to be able to extend and contract freely in a horizontal axis direction perpendicular to the turning axis line. The tip of the robot arm 24 grasps a workpiece via a robot wrist 26. A robot hand 28 for use is provided, and is configured to be capable of gripping a work W, for example, a sheet metal work by a known vacuum suction or magnetic suction method. In the press processing apparatus having the above-described structure, first, the press machine 12 performs the press processing on the work W according to a predetermined program, and then, after the completion of the press processing, the other press machine. At 14, a press process is performed to obtain a desired product by performing a predetermined press process. At this time, the initial work W is supplied to the press machine 12 by using the industrial robot 16
The workpiece W before processing is transferred from the workpiece supply station (not shown) provided at a fixed position along the robot hand 28 to the robot hand 28.
It is carried out by loading the work W into the press working section of the press machine 12 by carrying the work W along the traveling path 18 to the press machine 12. Then, the press machine 12
When the stamping process is completed, the industrial robot 1
As shown in FIG. 1A, 6 moves to one end of the traveling path 18 near the press machine 12, extends the robot arm 24, and causes the robot hand 28 to reach the press working portion of the press machine 12, Then, the work W is taken out from the press working part. At this time, the robot hand 28 itself is provided with an appropriate actuator means so as to be able to approach and separate from the work upper surface similarly to a known suction hand, so that the work suction portion at the tip of the hand can be brought into contact with the upper surface of the work W. Is configured.

Robot hand 28 picking up the work W
At the same time that the robot arm 24 contracts from the front to the rear with respect to the robot body 22, and at the same time, the robot base 20 moves from the press machine 12 side to the press machine 14 side along the traveling path 18 to transfer the workpiece W. As shown in FIG. 1B, the press machine 12 is taken out of the press working area. Next, as the robot base 20 of the industrial robot 16 continues to travel along the travel path 18, the robot arm 24 pivots about the vertical axis of the robot body 22 by about 180 °, as shown in FIG. Thus, the work W gripped by the robot hand 28 reaches a position near the processing portion of the other press machine 14. In the turning operation of the robot hand 24, the robot arm 24 is contracted to the center of the robot body 22, and thus the turning operation is performed with the inertia around the turning operation axis of the robot arm 24 being as small as possible. Therefore, the load applied to the turning drive source can be reduced, and therefore, the turning operation speed can be increased. The work W automatically conveyed by the industrial robot 16 to a position near the press working portion of the press machine 14 extends the robot arm 24 toward the working portion of the press machine 14 to move the robot hand 28 directly above the working portion. The work W is loaded into the press machine 14 after being positioned.

According to the above-mentioned structure, in the operation modes of the industrial robot 16 such as work taking out, carrying and loading,
A process of expanding and contracting the robot arm 24 in synchronization with the traveling motion along the traveling path 18 (the process shown in (a) of FIG. 1 and (c)).
The steps shown in 1) are included. That is, since the added value of the traveling operation speed and the extension / contraction operation speed becomes the operation speed of the robot hand 28, it is possible to obtain an improvement in the transfer operation speed. Further, in the turning process of the work W in FIG. 1B, the robot arm 24 is contracted with respect to the vertical axis (turning axis) of the robot body 22, so that the load applied to the turning drive source during turning is increased. As described above, it is possible to reduce the speed, and therefore the turning speed can be improved. In addition, since the robot base 20 simultaneously continues straight traveling along the traveling path 18 even during the turning operation of the industrial robot 16, even if the distance between the press machines 12 and 14 is long, automatic conveyance is possible. It is possible to shorten the cycle time of the press machine 12, which means that the press machines 12, 1
It is also possible to arrange the distance between the four at long distance intervals as required. The work which has been pressed by the press machine 14 and has been commercialized is again taken out of the press machine 14 by the industrial robot 16 and conveyed to the work supply station to be delivered to the work station as a finished product. .

FIG. 2 shows another embodiment of the present invention in which two or more N press machines (N1 to Nn) are arranged at appropriate intervals, for example, in a row from the left to the right. The industrial robot 40 is arranged between these press machines, and the work W is subjected to a large number of press working processes, for example, between the left end side press machine N1 and the right end side press machine Nn to obtain a finished product. The press processing apparatus that enables the above is shown. In the case of this embodiment, when the first work W is loaded by the press machine N1 on the left end side to perform the first-stage press working, the industrial robot 40 arranged between the press machine N1 and the press machine N1. By the above, the work loading is performed, and when the first-stage press working process by the press machine N1 is completed, automatic transfer from the press machines N1 to N2 is performed. Next, the work W is subjected to the second-stage press processing by the press machine N2, and after the processing is completed, the press machine N2 is pressed.
Robot 4 disposed between the press and the press machine N3
The work W is automatically conveyed by 0, and the work W is conveyed to the press machine N3, and the third stage press processing is performed. After that, the work W is similarly subjected to highly efficient press processing by N press machines and (N-1) industrial robots 40, and is carried out as a finished product. In addition, the delivery of the product is, for example, arranged between the (N-1) th press machine and the Nth press machine (N
-1) By making full use of the second industrial robot 40, it is possible to carry out to the work carrying-out station installed between these two press machines.

[0012]

As is apparent from the above description, according to the present invention, at least two press machines and the industrial robot installed between the two press machines at a relatively long arrangement interval. In the process of automatically carrying the work from one press machine to the other press machine in the process of sequentially performing the sheet metal work with each press machine by using, the robot arm rotates around the vertical axis along with the traveling function. Since the function and the function of expanding and contracting in the axial direction of the arm are exerted, it is possible to achieve the effect that the transfer cycle time can be shortened and the efficiency of the press processing can be improved. In particular, since the industrial robot performs the extension / contraction operation of the robot arm in synchronization with the traveling function, it imparts the conveyance operation at the speed obtained by adding the traveling speed and the extension / contraction operation speed to the work held at the tip of the robot hand Therefore, the transport efficiency is remarkably improved. Therefore, in the labor-saving factory in the recent automobile production process, etc., it is possible to improve the efficiency of the production process including the press working process for the sheet metal work such as the door product of the vehicle. The effect of achieving an improvement in manufacturing efficiency is also obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration and a principle of operation of an embodiment of a press processing apparatus for a work by a press machine and a robot according to the present invention. FIG. 1A is a view showing the work from one of the two press machines. Front view showing the process of taking out the
(B) is a front view showing one process in which the work taken out from one press machine is conveyed to the other press machine side by the linear traveling and turning motion of the robot, and (c) is a position close to the other press machine. Front view showing the state of automatic conveyance,
(D) is a front view showing a process of loading a work on the other press machine.

FIG. 2 is a plan view showing an arrangement state of a press machine and an industrial robot in another embodiment of the press processing apparatus according to the present invention.

[Explanation of symbols]

 12 ... Press machine 14 ... Press machine 16 ... Industrial robot 18 ... Travel path 20 ... Robot base 22 ... Robot body 24 ... Robot arm 28 ... Robot hand 40 ... Industrial robot W ... Work

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kazuhisa Otsuka Kazuhisa Otsuka 3580 Koshinoba, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture Inside the Product Development Laboratory, Fanatsk Co., Ltd. 3580 Baba, Product Development Laboratory, Fanatsk Co., Ltd.

Claims (2)

[Claims] 1. A press processing apparatus for a work, which automatically conveys a work between at least two press machines and performs a predetermined press working, wherein the two press machines move along a straight running path. Possible robot base, a robot arm provided so as to be rotatable about the longitudinal axis of the robot base and extendable and contractible in the arm axis direction, and a work gripping hand attached to the tip of the robot arm. An industrial robot having: a press machine and a work press processing apparatus using the robot. 2. A press machine having a plurality of N (integer) units arranged in a row, and at least (N) cooperating with the N press machines.
-1) It is configured to include one of the industrial robots,
One industrial robot is arranged between the two press machines from one end in order in the N press machines so that each work can be subjected to multi-step press processing by the N press machines. A press processing device for a work by a press machine and a robot according to claim 1.