JPH06320447A - Work moving device - Google Patents

Abstract

PURPOSE:To provide a moving device the narrow working space of which suffices for operation and which enables high speed movement of a work for a long distance. CONSTITUTION:A guide rail 54 is disposed between first and second press devices 4 and 6. An elevating mechanism part 72 is disposed to a moving body 56 slidably disposed to the guide rail 54 and a rotary servo motor 76 is disposed to the lower end part of the slide frame 74 of the elevating mechanism part 72. A rotary arm 58 is rotated with the aid of the rotary servo motor 76. An attracting unit 82 is attached to the tip of the rotary arm 58 through a rotatable joint part 80. The rotary arm 58 is rotated from the first press 4 side to the second press 6 side as the moving body 56 is moved from the first press device 4 to the second press device 6. A work 14 is always kept at a horizontal state through operation of the joint part 80.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work moving device for moving a work between press dies.

[0002]

2. Description of the Related Art Conventionally, an articulated robot has been used to move a work between welding processes, but in recent years, as the control accuracy of this articulated robot has been improved, a press die which is required to have a higher speed. Articulated robots have begun to be used to move workpieces between them.

[0003]

Since the articulated robot mainly performs a combination of turning motions in a horizontal plane, a large work space is required for horizontally turning the work. Further, since the articulated robot is generally complicated in structure and operation, it is not suitable for high speed operation and long distance transportation.

An object of the present invention is to provide a work moving device which requires a small working space, has a simple structure and operation as compared with an articulated robot, and can easily move a work over a long distance at a high speed.

[0005]

A feature of the first invention is that in a work moving device for moving a work from a first process to a second process, a vertical swivel shaft disposed between the first and second processes. And an upper end portion thereof is connected to the vertical swivel shaft via a support shaft that can move up and down, and a lower end portion extends obliquely downward in a direction away from the vertical swivel shaft, and the lower end portion is used for supporting work suction. The tilting arm to which the vacuum suction pad is attached, and the driving means for swinging the tilting arm around the support shaft in the radial direction of the vertical turning shaft and moving the support shaft up and down. In the process, the work sucked and supported by the vacuum suction pad is swung substantially 180 ° around the vertical swivel axis to move to the second process, and during this movement, the work is moved to the first process. Second To move the line connecting the extent,
The tilt angle of the tilt arm and the height position of the support shaft are changed by the driving means.

A feature of the second invention is that in the work moving device for moving the work from the first process to the second process, the work moving device is arranged between the first process and the second process in a direction connecting both processes. A guide rail, a moving body that moves along the guide rail, an elevating member attached to the moving body, and a joint in which a base end portion is rotatably attached to the elevating member and a tip end portion is rotatable. A vacuum suction pad for sucking and supporting the work piece in a horizontal state via a rotary arm, the tip of the rotary arm extending horizontally to the first process side, and the vacuum suction pad. The workpiece in the first step is adsorbed and supported, and the movable body is moved in the second step direction, and during this movement, the rotating arm is moved to the second step.
That is, it is rotated substantially 180 ° toward the process side.

[0007]

In the work moving device according to the first aspect of the present invention, the work sucked and supported in the first step is substantially rotated about the vertical turning axis by 18 times.
The work piece is swung by 0 °, and the work piece moves linearly from the first process to the second process by changing the tilt angle of the tilting arm and the height position of the support shaft during this turning. Vertical turning axis is 9
When rotated by 0 °, the tilt arm tilts in a direction symmetrical to the initial tilt direction, and the work is located below the vertical pivot axis.
When the vertical swivel axis further swivels 90 °, the tilt angle of the tilt arm becomes the tilt direction opposite to the initial tilt direction, and the workpiece is in a state of being projected to the second process side.

In the work moving apparatus according to the second invention, the first
The work adsorbed and supported in the process is moved to the second process by the movement of the moving body, and the rotating arm is rotated substantially 180 ° from the first process side to the second process side during this movement. At this time, the work is always kept horizontal by the joint. When the movable body moves to the second process side, the rotating arm horizontally extends to the second process side, and the work is in a state of being projected to the second process.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 show an embodiment of the first invention, FIG. 4 shows an embodiment of the second invention, and FIG. 5 shows a modification of the second invention.

The work moving device 2 according to the first invention is shown in FIG.
A first pressing device 4 for performing a first pressing step as described above,
The tilt arm 10 is swung by the vertical swivel shaft 8 arranged in the middle of the second press device 6 for performing the second press step, so that the vacuum arm suction pad 12 at the lower end portion of the tilt arm 10 sucks and supports it. 1 Work 1 of press machine 4
4 is moved to the second press device 6.

The vertical swivel shaft 8 is composed of a tubular member, into which a mandrel 18 extending downward from the tip of the support arm 16 is inserted, and the weight of the vertical swivel shaft 8 is supported by a flange portion 18a at the lower end of the mandrel 18. Has been. Support arm 1
6 is supported by the foundation G via a support member (not shown).

A swing servomotor 22 is attached to the support arm 16 via a bracket 20, and a drive pulley 24 attached to the drive shaft of the swing servomotor 22 and a driven unit integrally connected to the upper end of the vertical swing shaft 8. A belt 28 is wound around the pulley 26.

An elevating servomotor 30 is attached to the side surface of the vertical turning shaft 8, and the elevating servomotor 30 elevates the vertical frame 32. A guide portion 34 is formed on the upper portion of the vertical frame 32, and a slider 36 moves up and down along the guide portion 34. The upper ends of the two tilting arms 10, 10 parallel to each other are connected to the slider 36 by supporting shafts 40, 40. The lower end of the tilting arm 10 is pivotally connected by a connecting plate 42,
A suction unit 46 having a plurality of vacuum suction pads 12 is attached to the connecting plate 42. Two rocking arms 4 parallel to each other are provided in the middle of the tilt arm 10.
The upper ends of the rocking arms 48 and 48 are pivotally connected, and the lower end of the rocking arm 48 is connected to the output shaft of a rocking servomotor 50 disposed at the lower end of the vertical frame 32.

When the swing servo motor 50 is driven, the swing arm 48 swings, the tilt arm 10 swings, and at the same time, the slider 36 moves up and down. However, the height position of the lower end portion of the tilt arm 10 is always constant regardless of the tilt angle of the tilt arm 10, and the tilt arm 10 and the swing arm 48.
The binding position with is selected.

The work moving device 2 of the first invention is constructed as described above, and the work 14 sucked and supported by the first pressing device 4 is linearly moved from the first pressing process to the second pressing process as shown in FIG. Be moved. In order to suck and support the work 14, first, as shown in FIG. 1, the inclined arm 10 is extended to the first press device 4 side, and the suction unit 46 is placed between the upper die 4a and the lower die 4b of the first press device 4. Put in. After that, the vertical frame 32 is lowered by the lifting servomotor 30,
The upper surface of the work 14 is sucked by the suction pad 12.

Next, the vertical frame 32 is raised by the elevation servomotor 30, and then the tilting arm 10 is driven to the vertical position by the swing servomotor 50. As a result, the work 14 moves from position A to position B in FIG.

Next, the turning servomotor 22 causes the vertical turning shaft 8 and thus the vertical frame 32 to rotate 90 ° around the mandrel 18.
At the same time, the rocking servomotor 50 drives the tilting arm 10 so as to tilt beyond the vertical position in a direction symmetrical to the tilting direction at the position A. As a result,
The work 14 changes its position from B to D in FIG. At the position D, the work 14 is located almost directly below the vertical pivot shaft 8.

Next, the vertical turning shaft 8 and the vertical frame 32 are further rotated around the mandrel 18 by the turning servomotor 22.
The tilt arm 10 is rotated to a vertical position (total rotation angle is 180 °), and at the same time, the rocking servomotor 50 is moved backward to drive the tilt arm 10 to the vertical position. As a result, the work 14 changes its position from D to F in FIG.

Next, with the turning servomotor 22 stopped,
The rocking servomotor 50 drives the tilting arm 10 in a direction to tilt it. As a result, the suction unit 46 and the work 14 are inserted between the upper die 6a and the lower die 6b of the second pressing device 6. Next, the vertical frame 32 is lowered by the lifting servomotor 30, the work 14 is placed on the lower die 6b, and thereafter, the suction unit 46 is operated by the reverse operation.
Are returned to the first press device 4.

Next, an embodiment of the second invention will be described with reference to FIG. The work moving device 52 moves the moving body 56 from the first pressing device 4 to the second pressing device 6 along the guide rails 54, so that a plurality of vacuum type tips of the turning arms 58 of the moving body 56 are moved. The work 14 sucked and supported by the suction pad 60 is moved to the second press device 6.

The guide rail 54 is horizontally arranged between the first pressing device 4 and the second pressing device 6, and the moving body 56 is slidably arranged on the guide rail 54. Pulleys 62 and 64 are arranged at both ends of the guide rail 54, and a belt 66 is wound between these pulleys 62 and 64. A motor 68 is provided above the guide rail 54.
Further, a deceleration pulley 70 is provided, a part of the belt 66 is wound around the deceleration pulley 70, and the motor 66 drives the belt 66 in both forward and reverse directions. The belt 66 is coupled to the moving body 56, and the driving of the belt 66 causes the moving body 56 to slide.

The moving body 56 has an elevating mechanism portion 72 driven by a servo motor, and a rotating servo motor 76 is arranged at the lower end portion of a slide frame 74 of this elevating mechanism portion 72. Rotating arm 5 on the output shaft of
The proximal ends of 8 are joined. A suction unit 82 having a plurality of suction pads 60 is attached to the tip of the rotating arm 58 via a rotatable joint portion 80. The joint portion 80 is interlocked with the movement of the rotating arm 58 and operates so as to always hold the suction unit 82 horizontally.

The work moving device 52 of the second invention is constructed as described above, and moves the work 14 of the first pressing device 4 to the second pressing device 6 without changing its orientation. In order to suck the work 14 of the first pressing device 4 by the suction unit 82, first, the rotating arm 58 is extended horizontally toward the first pressing device 4 and the moving body 56 is moved to the leftmost side in FIG. The upper die 4a and the lower die 4b of the first press device 4.
Insert between. Then, the lifting arm 72 is used to move the rotating arm 58.
Is lowered, and the upper surface of the work 14 is suction-supported by the suction unit 82. Next, the raising / lowering mechanism 72 raises the rotating arm 58 to float the work 14 from the lower die 4b, and in this state, the moving body 56 is slid to the position B.

Next, while the movable body 56 is slid from B to C, the rotary arm 58 is moved from the horizontal state to the vertical state 9
Rotate 0 °. Subsequently, while the moving body 56 is slid from C to D, the rotating arm 58 is further rotated by 90 ° from the vertical state to the horizontal state. The above operation is continuously performed.

After that, the moving body 56 is slid from D to E, the suction unit 82 is inserted between the upper die 6a and the lower die 6b of the second pressing device 6, and the rotating arm 58 is moved by the elevating mechanism 72. The work 14 that is lowered and sucked and supported by the suction unit 82 is lowered onto the lower die 6b. After that, the suction unit 82 is moved to the first pressing device 4 by the operation reverse to the above.
Return to.

Next, a modification of the work moving device 52 according to the second invention will be described with reference to FIG. This work moving device 8
4 is the same as the work moving device 52 of FIG. 4 except that the guide rail 54 is arranged at a higher position and the stroke of the elevating mechanism 72 is set longer.

When the work moving device 84 sucks the work of the first press device 4 (position A) and when the work is lowered to the second press device 6 (position E), the lifting mechanism 7 is used.
The second slide frame 74 is extended to the maximum. Moving body 56
The length of the slide frame 74 is not changed when moving from A to B and when moving from D to E. Mobile 5
When moving 6 from B to C, the slide frame 74 is shortened, and the rotating arm 58 is rotated 90 ° from the horizontal state to the vertical state. Further, when the moving body 56 is moved from C to D, the slide frame 74 is extended and the rotating arm 58 is further changed from the vertical state to the horizontal state.
Rotate 0 °. As a result, the work 14 can be moved from the first press device 4 to the second press device 6 while keeping the height position of the work 14 constant and without changing the direction of the work.

The embodiment of the present invention has been described above.
The present invention is not limited to the above embodiment, and various modifications are possible. For example, in the first invention, the vertical frame 32 is moved up and down only when the work 14 is attached and detached.
The support shaft 40 of the tilting arm 10 is fixed to the vertical frame 32.
It is also possible that the connecting portion between the swing arm 48 and the swing arm 48 is constituted by a long hole and a pin, and the vertical frame 32 is moved up and down when the tilt arm 10 swings so that the height position of the work 14 is kept constant.

[0029]

According to the first and second inventions, the work is linearly moved from the first step to the second step as described above.
The work space is smaller than that of the conventional method of moving the work by swinging like a rotating type moving device using an articulated robot. Further, since the vacuum suction pad is linearly taken in and out with respect to the first and second steps, there is a possibility that interference may occur with the upper die guide or the like even if the space in the left and right direction of the pressing device for taking in and out the work is narrow. Absent. Further, since the structure and operation are simplified as compared with the conventional articulated robot, it is easy to move the work over a long distance and at high speed. Furthermore, since the second invention moves without changing the orientation of the work, there is also an advantage that most of the structure of the pressing device and the like in the first step and the second step can be made common.

[Brief description of drawings]

FIG. 1 is a side view of a work moving device according to a first invention.

FIG. 2 is a plan view of the device.

FIG. 3 is a plan view showing a movement state of a work by the apparatus.

FIG. 4 is a side view of a work moving device according to a second invention.

FIG. 5 is a side view of an apparatus obtained by modifying the apparatus.

[Explanation of symbols]

 2, 52, 84 Work moving device 4 First pressing device 6 Second pressing device 8 Vertical swivel axis 10 Tilt arm 12 Vacuum suction pad 14 Work 22 Swiveling servomotor 30 Lifting servomotor 36 Slider 40 Spindle 46, 82 Adsorption unit 48 swing arm 50 swing servo motor 54 guide rail 56 moving body 58 turning arm 72 lifting mechanism section 74 slide frame 76 turning servo motor 80 joint section

Claims (2)

[Claims] 1. A work moving device for moving a work from a first process to a second process, wherein a vertical swivel shaft disposed in the middle of the first and second processes and an upper end portion with respect to the vertical swivel shaft. An inclined arm that is connected via a vertically movable support shaft, has its lower end portion extending obliquely downward in the direction away from the vertical pivot shaft, and has a vacuum suction pad for supporting workpiece suction attached to the lower end portion. A driving means for swinging the tilt arm around the support shaft in a radial direction of the vertical turning shaft and moving the support shaft up and down, wherein the suction support is provided by the vacuum suction pad in the first step. The workpiece is substantially 180 around the vertical turning axis.
° It is swung to move to the second step, and during this movement, the tilt angle of the tilt arm and the height of the support shaft are adjusted so that the workpiece moves on the line connecting the first step and the second step. A work moving device, characterized in that the position is changed by the driving means. 2. A work moving device for moving a work from a first process to a second process, wherein a guide rail is provided between the first process and the second process in a direction connecting both processes, and the guide. A moving body that moves along a rail, an elevating member attached to the moving body, a base end portion rotatably attached to the elevating member, and a work piece through a rotatable joint portion at a distal end portion. And a rotary arm to which a vacuum suction pad for sucking and supporting the workpiece is always supported in a horizontal state, the tip end of the rotary arm is horizontally extended to the first process side, and the vacuum suction pad is used to work in the first process. Is supported by suction, the moving body is moved in the second process direction, and during this movement, the rotating arm is rotated substantially 180 ° toward the second process side. Work moving device.