JPH0663669A - Handling robot system between press - Google Patents

Abstract

PURPOSE:To provide a handling robot system between presses which is simple in maintenance/inspection, practically free from malfunctions and applicable regardless of the structure and the rigidity of presses. CONSTITUTION:By carrying out the carry-in, carry-out and transportation of a work 9 for each press 8, 8 by means of a single robot 1 arranged between the presses 8, 8, the input/output of signals between the press 8 and the robot 1 is simplified, the standby time for signals in the control operation is shortened as a whole, the probability of malfunctions due to the input/output errors of signals for example is reduced, and the maintenance/inspection is facilitated. By structuring a frame 11, on which the robot 1 is installed, independently from the presses 8, 8, extra load on the presses 8, 8 is eliminated, and the handling operation of a work by means of the robots 1 is carried out regardless of the rigidity and strength of the presses 8, 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of an inter-press handling robot system.

[0002]

2. Description of the Related Art In a sheet metal working process using a press machine, considerable force is required for loading and unloading a work into and from a press die, and for transferring a work from a press die to a press die. To avoid danger and hard work,
Automation by a handling system between presses using a dedicated handling machine or robot has been proposed.

[0003]

7 and 8 are conceptual diagrams showing a conventional example of the inter-press handling system.

The example shown in FIG. 7 shows the case where the loading and unloading of the work and the carrying of the work are carried out by individual robots. In the press machine 100, the robot 101 for loading the work and the unloading of the work A robot 102 for carrying is suspended and attached together. In the example shown in FIG. 7, the robot 101 picks up the work from the temporary placing table 103 and carries it into the mold 104 of the press machine 100.
Further, the work machined by the press machine 100 is carried out by the robot 102, conveyed to a temporary stand 103 installed between the work machine and the press machine 100 in the next processing step, and placed. Therefore, two robots 101 and 102 are required for each press machine 100.
Since the input / output of signals between 0 and the robots 101 and 102 becomes complicated and the number of signal lines increases, there is a drawback that maintenance work is troublesome. In addition, since the waiting time for waiting for a signal also increases in the control operation, the overall takt time is adversely affected, and the probability of malfunction due to signal input / output error or the like increases. Moreover, the two robots 10
In order to suspend 1, 102, it is necessary to increase the rigidity of the press machine 100 itself, which leads to an increase in cost.

As shown in the example of FIG. 8, a press machine 100 is used.
Although the shuttle 105 dedicated to transportation is provided between the press machine 100 and the press machine 100, and the shuttle 105 is responsible for a part of the transportation operation, the tact time may be shortened. The number of data lines increases as the number of lines increases. In addition, the probability of malfunction increases and the reliability of the entire system may decrease.

In both cases shown in FIG. 7 and FIG. 8, since the robots 101 and 102 are suspended directly from the press machine 100, the die 104 is attached by an overhead crane or the like installed in the factory. In the case of removing the robot, the robots 101 and 102 may interfere with the crane, the rope, or the like to hinder the progress of the work, which is also dangerous.

An object of the present invention is to solve the drawbacks of the prior art, to provide a press-to-press handling robot system which can be applied regardless of the structure and rigidity of the press machine, which is easy to perform maintenance and inspection work and has few malfunctions. To provide.

[0008]

In the inter-press handling robot system of the present invention, a single robot for loading and unloading and transporting a workpiece to and from each press machine is arranged between the press machines. The above-mentioned object is achieved by the constitution characterized in that.

Further, due to the structure in which the mount for mounting the robot is installed independently of the press machine, and the structure for forming the mount for mounting the robot by passing the beam between the press machines, it is possible to add extra force to the press machine. The load was removed.

Further, the robots are arranged such that the direction in which the work is conveyed by the robot intersects with the direction in which the work is carried in or out of at least one of the press machines. Even when the work transfer direction from the press machine to the press machine is different, the single robot can carry in and out the work to and from each press machine.

[0011]

[Function] Since a single robot arranged between the press machine and the press machine is designed to carry in and carry out and carry out the work to and from each press machine, the signal input between the press machine and the robot is inputted. The output is simplified and the number of signal lines is small. Therefore, maintenance and inspection work becomes easy,
Further, the waiting time for waiting for a signal in the control operation is also reduced as a whole, so that the tact time is shortened, and the probability of malfunction due to a signal input / output error or the like is reduced.

Further, the number of robots required for one press machine is at most one, and the mount for mounting the robot is independent of the press machine, or
Since it is configured by passing a beam between the press machines, there will be no or very little extra load on the press machines, and the robot will be used regardless of the rigidity or strength of the press machines. be able to.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual diagram showing a shaft configuration of a robot 1 applied to an embodiment of a handling robot system between presses according to the present invention. The robot 1 is generally arranged so that a vertical rotation axis (a rotation axis around a rotation axis in a horizontal direction ( Parallel links) a and c, and a horizontal rotation axis b that rotates around a vertical rotation axis
It is composed of four axes d and d, and the hand 7 is attached to the tip of the robot link. The hand 7 is a robot hand having a normal gripping function, and grips a plate-shaped work or the like used for press working.

The axis configuration of the robot 1 in this embodiment is different from that of a normal industrial robot or the like. First, the hand 7 for holding a work or the like has a large radius (3 m in the embodiment) due to the rotation of the vertical rotation axis a. It is about to be rocked. Therefore, for example, as shown in FIG. 2, even when the two press machines 8, 8 are arranged with a relatively large gap therebetween, the special shuttle 105 as in the conventional example shown in FIG. It is not necessary to provide the work for carrying the work 9 by providing the robot 1 and the like, and only by disposing one robot 1 between the press machines 8, 8, the die 1 in each press machine 8, 8
The work 9 can be freely transferred between 0 and 10.

As shown in the example shown in FIG. 2, if the gantry 11 to which the robot 1 is attached is installed completely independently of the press machines 8 and 8, as in the conventional example shown in FIG. 7 and FIG. The load does not act on the press machine at all, and the work 9 can be carried in and out and the work can be carried out by using the robot 1 regardless of the rigidity and strength of the press machines 8, 8. Further, when the press machines 8 and 8 are extremely separated from each other, a traveling device is attached to the base of the robot 1 or the gantry 11 itself so that the robot 1 can be moved between the press machines 8 and 8. To do.
It is also possible to pass a beam between the two press machines 8 and 8 to form a mount to which the robot 1 is attached. In this case,
A traveling device is attached to the base of the robot 1 so that the robot 1 can move along the beam.

FIG. 5 is a view showing an example of the direction in which the work 9 is conveyed between the press machines 8 corresponding to the configuration of the inter-press handling robot system as shown in FIG. 2, and FIG. 5 (a) is a plan view. 5 (b) is a front view. Figure 5
As shown in (b), in the configuration in which the outer peripheral portions of the molds 10, 10 in each press machine 8, 8 are completely opened during the mold opening operation of the press machines 8, 8, one mold is used. Since the direction in which the work 9 is carried out from 10 (right in the drawing) and the direction in which the work 9 is carried into the other die 10 (left in the drawing) can be arbitrarily determined, are shown in FIG. 5 (a). As described above, the loading and unloading directions of the work 9 in the respective dies 10 and 10 and the transporting direction of the work 9 from the one die 10 to the other die 10 can be matched. Therefore, in this case, the work 9 can be grasped by the hand 7 of the robot 1, and the work 9 can be moved in a substantially straight line shape so as to draw a large arc with the hand 7.

On the other hand, FIGS. 6 (a) and 6 (b)
In the configuration of the press machines 8 and 8 as shown in FIG. 1, that is, in the configuration in which both sides of the molds 10 and 10 attached to the respective press machines 8 and 8 are covered by the side walls of the press machines 8 and 8, Of the workpiece 9 from the die 10 (right side in the figure) of the workpiece 9 to the other die 10 (left side in the figure).
Since the direction of carrying in is regulated by the take-out opening positions 8a, 8a of the press machines 8, 8, FIG.
And as in the example shown in FIG. 5B, the work 9 is carried in and out between the work 9 and the molds 10, 10.
It is not possible to match the conveyance direction of. However, according to the robot 1 of the embodiment, by rotating the horizontal rotation axis b and the horizontal rotation axis d independently or in cooperation, the hand 7 is drawn so as to draw a small arc in the horizontal plane.
Since it can be swung, as in the example shown in FIG. 6A, the loading and unloading directions of the work 9 to and from the respective dies 10 and 10 and the transfer direction of the work 9 between the dies 10 and 10. Work 9
It is possible to carry out the carrying in, carrying out, and carrying of extremely smoothly by a series of operations. Further, the robot 1 is arranged right above the take-out opening positions 8a, 8a of the press machines 8, 8, and a temporary placing table is provided between the press machines 8, 8 so that one machine is provided for each press machine 8. It is also possible to carry out the work of transferring the work 9 between the molds 10 by the respective robots 1.

Since the gantry 11 to which the robot 1 is attached is installed completely independently of the press machines 8 and 8, the link members of the robot 1 are folded as shown in FIG. It is possible to completely evacuate from the vicinity of 8 and 8. Therefore, even when the molds 10 and 10 are attached to and detached from the press machines 8 and 8, the hook 1 of the overhead crane 1
The robot 2, the rope, etc. do not interfere with the robot 1.

FIG. 4 is a block diagram showing the minimum components for realizing the inter-press handling robot system.
The press machines 8 and 8 are controlled by the respective press controllers 13 and 13 as in the conventional case, and the robot 1 is drive-controlled by the robot controller 14 based on the drive program and teaching data stored in the robot controller 14. . Each of the press controllers 13 and 13 and the robot controller 14 is connected to the interlock board 16 via a signal line used for inputting / outputting an abnormality detection signal, a standby signal and the like. Further, the interlock board 16 includes photoelectric switches and pneumatic pressure switches provided in various parts of peripheral equipment such as a mandone and a safety shelf of a mold exchanging device storing the molds 10, 10 mounted on the press machines 8, 8. A signal line from the like is connected, and an abnormality detection signal is input according to an abnormal state of each part of the peripheral device.

The interlock board 16 includes the press machines 8,
8 or the robot 1 and the abnormality detection signals from various peripheral devices determine whether the press machine 8 or 8 or the robot 1 can execute the sequence, and if necessary, press machine 8,
By outputting a standby command or the like to the robot 8 or the robot 1, the entire system is operated in cooperation. Reference numeral 15 denotes a centralized management computer, which is configured to totally control a plurality of system groups formed by a group of the press machines 8, 8 and the robot 1. Since the single robot 1 arranged between the press machines 8 and 8 carries in and out and carries out the work to and from the respective press machines 8 and 8, the press controllers 13 and 13 and the interlock board 16 It is only necessary to connect the signal line of No. 1 to one robot controller 14, and the connection of the signal line of the entire system becomes simpler than the conventional one in which two robots are provided for each press machine. Further, it is not necessary to provide a special shuttle or the like, and the number of robots to be controlled itself is reduced. As a result, the waiting time for a signal in the control operation is reduced as a whole, and the takt time is shortened. Moreover, the probability of malfunction due to signal input / output errors and the like is reduced, and the maintenance work is reduced.

[0021]

In the inter-press handling robot system according to the present invention, a single robot arranged between the press machines is used to carry in and out and carry out the work to and from each press machine. Since the input / output of signals between the press machine and the robot is simplified and there is no need to provide a special shuttle between the press machines, the waiting time for waiting for signals in control operation is reduced as a whole, and the takt time is reduced. Becomes shorter. Moreover, since the number of signal lines is small, the probability of malfunction due to signal input / output errors and the like is reduced, and maintenance and inspection work is facilitated. Since the pedestal to mount the robot is configured independently of the press machine or by passing the beam between the press machines, the load of the robot is not applied to the press machine, and the rigidity of the press machine is reduced. It is possible to handle the work using a robot regardless of strength and strength. In addition, since the press machine itself does not have a robot, the robot interferes with the crane, rope, etc. to interfere with the work even when the die is installed and removed by an overhead crane installed in the factory. There is no, and it is safe.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an axis configuration of a robot applied to an embodiment of the present invention.

FIG. 2 is a diagram showing an arrangement example of robots.

FIG. 3 is a diagram showing a state in which the robot is retracted.

FIG. 4 is a block diagram showing components of a handling robot system between presses.

FIG. 5 is a diagram illustrating an example of a work conveyance direction.

FIG. 6 is a diagram showing an example of a conveyance direction of a work.

FIG. 7 is a conceptual diagram showing a conventional example of a handling system between presses.

FIG. 8 is a conceptual diagram showing a conventional example of a handling system between presses.

[Explanation of symbols]

 1 Robot 7 Hand 8 Press machine 9 Work 11 Stand

Claims (4)

[Claims] 1. A handling robot system between presses, characterized in that a single robot for loading and unloading a work into and from each press machine is arranged between the press machines. 2. The inter-press handling robot system according to claim 1, wherein a pedestal to which the robot is attached is installed independently of the press machine. 3. The inter-press handling robot system according to claim 1, wherein the press machine is a mount for mounting a robot by passing a beam between the press machines. 4. The inter-press handling robot system according to claim 1, wherein the robots are arranged such that the robot conveys the workpieces in or out of at least one of the press machines in the direction in which the robots convey the workpieces.