JPH0688213B2 - Work transfer system - Google Patents

Description

TECHNICAL FIELD The present invention cleans a work by removing, for example, burrs of a work formed by a zinc or aluminum die casting machine and foreign substances attached to the surface of the work ( In the present invention, this is referred to as "polishing".) The present invention relates to a system for transferring a work between predetermined places for operation.

2. Description of the Related Art Conventionally, and its problems Conventionally, flash of a work formed by a zinc or aluminum die casting machine is usually removed by a shaving press machine. This shaving press machine removes burrs by combining male and female dies, so even if it is possible to remove burrs protruding from the corners of a workpiece, it is possible to remove burrs protruding from arcs or uneven surfaces. I can't. Further, it is not possible to remove foreign matter attached to the surface of the work.

For this reason, the burrs and dust are removed by a machine for spraying fine metal particles or sand onto the work to remove burrs, foreign substances, and the like to clean the work (in the present invention, this machine is referred to as a "polishing machine"). There is a method of removing foreign matter.

However, since the polishing machine can clean many works at once, it is necessary to store a certain number of works. For this reason, the worker sends the cleaned work to the next process, packs it in a box, etc. until the work is accumulated.
Often engaged in other work.

Therefore, in such a work processing line in which the worker carries out the hanging work, there is a problem that the machine waiting time is often generated in one of the hanging work, resulting in poor productivity.

Means for Solving the Problems The present invention includes three hangers on which a work is suspended,
After suspending the first, second, and third mounting bases on which the respective hangers are placed and the work sent from the work forming step on an empty hanger on the first mounting base, the hangers are burred on the work, and are placed on the surface of the work. The first robot for transferring to the sweeping machine for removing foreign matters and the like, and the hanger in the cleaning machine for the second stand are removed, the work hung on the hanger is removed, and the work is sent to the next step. After that, the above problem is solved by a system including a second lobobot that transfers the empty hanger to the first mount via the third mount.

Action An empty first hanger is hung on the first table, a second hanger is suspended from the work before polishing in the blasting machine, and a third hanger is suspended from the blasted work on the second table. It is assumed that no hanger is placed on the third stand.

The first robot hangs the work with burrs sent from the work forming step on the first hanger placed on the first table. During this time, the blasting machine blasts the work suspended on the second hanger. Further, the second robot removes the work suspended from the third hanger, sends it to the next step, and transfers the empty third hanger from the second mounting table to the third mounting table. The second hanger in the blasting machine is taken out by the second robot after the workpiece is blasted and cleaned.
Transferred to the table.

After that, the first robot confirms that it does not interfere with the second robot, and then transfers the first hanger from the first stand to the polishing machine. The second robot transfers the third hanger from the third stand to the emptied first stand.

The work suspended from the first hanger moved into the blasting machine is blasted.

Hereinafter, similarly, each hanger is sequentially transferred by the first and second robots to the first stand, the scouring machine, the second stand, and the third stand. During this time, the suspended work is cleaned.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

First, the polishing / cleaning transfer system 20 for the work W (see FIG. 8)
The entire work production line 21 having (see FIG. 1) will be described.

The work W is, for example, a frame of a VCR,
Although it is a die cast molded product of aluminum, zinc or the like used for a camera body or the like, or a plastic molded product, an example of an aluminum molded product will be described in the embodiment.

The work production line 21 includes an aluminum die casting machine 22 and
A hot press machine 23, a work cooling device 24, a transfer robot 25, a shaving press machine 26, and three mounting tables 2
It has 7, 28, 29, a first robot 30, a scavenger 31, a second robot 32, and three hangers 33.

The aluminum die casting machine 22 is a known machine and has a fixed mold 40 and a movable mold 41 for molding a work.

The hot press machine 23 (see FIGS. 2 to 4) slides the work cast by the die casting machine 22 into a slide frame 42.
It is a device for receiving by the female mold 43, and removing the sprue, puddle, etc. of the work by punching. The hot press machine 23 has a slide frame 42, a male mold 46 (see FIG. 4), and a cylinder 47. The slide frame 42 is a cylinder 44
Driven by and the guide of the four rollers 45, it moves in the direction of arrow A and enters between the separated fixed mold 40 and movable mold 41. The male die 46 moves in the direction of arrow C by the drive of the cylinder 47, and removes the sprue, the pond, etc. of the work packed in the female die 43 by meshing with the female die 43.

The work cooling device 24 is a device that cools a high-temperature work taken out from the die casting machine 22. Work cooling device
The reference numeral 24 has six cooling jigs 50 composed of a frame with a wire mesh on which a work can be placed, and a blower (not shown) installed below the cooling jig 50 and sending cooling air to the work.

The transfer robot 25 (see FIG. 5) transfers the work from the hot press machine 23 to the work cooling device 24, and also transfers the work from the work cooling device 24 to a shaving press machine 26 described later.
The robot has a pair of opening and closing claws 52, 52 at the tip of the arm 51.

The shaving press machine 26 (see FIGS. 6 and 7)
It is a machine that removes burrs from the work and shave that finishes the inside diameter of the holes that have shrunk by cooling. The shaving press machine 26 has a bolster 61 fitted with a female die 60.
And a ram 63 to which the male mold 62 is attached. The bolster 61 is designed to move on the bed 64 in the directions of arrows D and E by a drive mechanism (not shown) while the female die 60 is placed. Further, the ram 63 is designed to move up and down on the frame 65.

The first and second mounting bases 27 and 28 are bases on which a hanger 33, which will be described later, is placed.
And a dog lock cylinder that horizontally extends and retracts the lock piece 70.
71, a rotary shaft 72 that is rotated by a motor (not shown), and a pair of sensors 73 and 74 that are mounted at 180 ° intervals. The third table 29 has nothing and is a flat table.

The hanger 33 (see FIG. 8) has six hook arms 80 on which a work is suspended and a lower end 6 of the work W.
It has a ring arm 81 of a book, and dogs 82 and 83 projecting at an interval of 180 degrees.

The first robot 30 suspends the work received from the shaving press machine 26 on the hanger on the first table 27,
It is a robot that transfers the hanger to a polishing machine 31 described later.

The blast cleaner 31 (see FIGS. 9 and 10) sprays a hexahedral aluminum grain (not shown) with a side of about 1.5 mm onto the work, and the fine burrs of the work suspended on the hanger and the surface of the work. This is a device for removing foreign matters and the like attached to the. The blast cleaner 31 includes a revolving arm 87 that is provided on the rotating shaft 85 and has a boss 86 at its tip, and a cylinder 88 that applies a rotating force to the rotating shaft 85.
(The cylinder 88 in FIG. 9 is a front view and thus looks like a square), a drive shaft 90 that meshes with a claw 89 at the lower end of the boss 86 to rotate the boss 86 on the swing arm 87, and the drive shaft 90 rotates. And a motor 91 for driving. The drive shaft 90 is lifted from the position shown in FIG. 9 by an elevating means (not shown) and meshes with the claw 89. The boss 86 is a part on which a hanger is placed. An air nozzle 93 (see FIG. 1) for blowing away aluminum particles attached to the hanger 33 is provided at the entrance of the hanger carry-in / out port 92. Therefore, the hanger loading / unloading port 92 of the blast cleaner 13 is automatically opened by the control device (not shown) when the hanger is loaded. Cylinder 88 at the same time
Also starts and rotates the rotary shaft 85. By the rotation of the rotary shaft 85, the right end of the revolving arm 87 revolves to the front side of the paper surface in FIG. 9, and comes out of the work transfer port 92 to the front of the blast cleaner 31. After the hanger 33 is placed on the boss 86, the cylinder 88
Returns and swivels the swivel arm 87 in the opposite direction, and inserts the hanger 33 into the blast cleaner 31.

The third robot 29 removes the hanger from the scrubber 31 to the second stand 28.
Then, the work hung on the hanger is packed in the box 93, and the empty hanger is replaced with the third one.
It is a robot that transfers to the first stand 27 via the stand 29.

Since the first and second robots 30 and 32 have the same structure as the transfer robot 25, the description thereof will be omitted.

Further, in FIG. 1, the range indicated by an imaginary line of an arc drawn around each robot 25, 30, 32 indicates a substantially movable range of each robot. In addition, each robot has a control panel
It is connected to 96,97,98.

Next, the operation of the entire work production line 21 will be described.

"Die casting process" The molten aluminum alloy of about 700 degrees is poured into a hot water supply port (not shown) of the die casting machine 22 and is pushed into the mold at a high speed and high pressure by an injection plunger (not shown) of the die casting machine 22. The aluminum alloy is cooled by cooling water circulating in the mold and becomes a work (not shown).

The mold is divided into a fixed mold 40 and a movable mold 41. The work remains in the movable mold 41.

When the mold is completely separated into the fixed mold 40 and the movable mold 41, the slide frame 42 of the hot press machine 23 moves to the arrow A (see FIG. 2) and enters between them. The work in the movable mold 41 is pushed out by an extrusion pin (not shown).

The extruded work is directly inserted into the female mold 43 of the hot press machine 23.

The push pin is retracted into the movable mold 41. The slide frame 42 is moved to the fixed mold 40 and the movable mold by the push pin return signal.
Get out of the space between 41 and return to the original position.

By the return signal of the slide frame 42, the transfer robot 25 applies the opening / closing claws 52, 52 to the surface of the female die 43 of the hot press machine 23 on the workpiece extrusion side. On the other hand, the die casting machine 22 enters the next cycle.

The transfer robot 25 sends a male movement start signal to the hot press machine 23.

The male die 46 of the hot press machine 23 is moved by the cylinder 47 in the direction of arrow C (see FIG. 4) and punches the work. As a result, the sprue and the puddle formed on the work are removed.

The transfer robot 25 picks up the work by the pushing signal of the male die 46. The male mold 46 of the hot press machine 23 retracts to its original position.

“Work Cooling Step” The transfer robot 25 places the work taken out from the hot press machine 23 on the first cooling jig 501 of the work cooling device 24.

When the work is placed on the first cooling jig 501, the reflective photoelectric switch a (see FIG. 1) attached to the first cooling jig 501 confirms whether the work is placed correctly. To do. When the work is placed correctly, the transfer robot 25
A clamp command is issued to the first cooling jig 501.

When the work is accurately clamped by the first cooling jig 501,
Send a clamp confirmation signal to the transfer robot 25. The clamp confirmation signal is issued by a limit switch (not shown) operated by the operation of a clamp cylinder (not shown) that operates the clamp.

The transfer robot 25 returns to the side of the female die 43 of the hot press machine 23 to take out the next work.

Such an operation is repeated until the work is placed on the sixth cooling jig 506.

Upon receiving the clamp confirmation signal from the sixth cooling jig 506, the transfer robot 25 moves onto the work placed on the first cooling jig 501 and issues an unclamp command to the first cooling jig 501. send.

The first cooling jig 501 unclamps the work.

If the first cooling jig 501 is accurately unclamped,
An unclamp confirmation signal is sent to the transfer robot 25. The unclamp signal is issued by the limit switch of the clamp cylinder.

The transfer robot 25 grabs and lifts the cooled work and transfers it to the shaving press machine 26.

Then, the transfer robot 25 receives the new work from the hot press machine 23, places the new work on the emptied first cooling jig 501, removes the cooled work from the second cooling jig 502, and shaves it. Transferred to the press machine 26.

“Shaving press machine process” The transfer robot 25 confirms whether or not a work carry-in request signal is output from the shaving press machine 26.

If the work loading signal is output, the transfer robot 25
The work is placed on the female die 60 of the shaving press machine 26.

Whether the work is placed on the female die 60 accurately depends on the female die 60.
It is confirmed by the reflective photoelectric switches b (see FIG. 1) attached to the upper two places. If the work is correctly attached to the female die 60, the photoelectric switch b sends a work seating normal signal to the transfer robot 25.

Upon receiving the signal, the transfer robot 25 sends a start signal of the shaving press machine 26 to the shaving press machine 26.
Send to.

Then, the female die 60 is carried to the bolster 61 and moved to the press position directly below the male die 62.

Further, a stopper (not shown) protruding from the lower center of the bed 64 in response to a start signal of the shaving press machine 26 issued from the transfer robot 25 stops the bolster 61 at the press position. When the press position confirmation limit switch c (see Fig. 1) is reversed, the ram 63 descends and the female die
The male die 62 meshes with the 60 to remove burrs such as cast holes in the work.

When the flash is removed, the stopper is lowered and the female die 60 is carried by the bolster 61 and moves toward the first robot to activate the movement limit confirmation limit switch d (see FIG. 1). The switch d sends a work unloading request signal to the first robot 30.

The first robot 30 moves onto the female die 60 to grab the work and lift it vertically.

A transmissive photoelectric switch e (see FIG. 1) is attached to the height to check the horizontalness of the work.
This confirmation is performed in order to properly suspend the work on the hanger (hereinafter, this hanger is referred to as “first hanger”) 33.

When the posture is normal, the shaving press machine 26 sends a take-out posture normal signal to the first robot 30. The first robot 30 receiving this signal sends a work unloading completion signal to the shaving press machine 26. In response to the work unloading completion signal, the bolster 61 carries the female die 60 to the original work loading position.

After the female die 60 moves, the limit switch f at the carry-in position
(See FIG. 1) reacts and sends a work loading request signal to the transfer robot 25.

“Brushing / cleaning process” The first robot 30 takes out the work from the shaving press machine 26, and then confirms whether or not a carry-in request signal is input from the first table 27.

At this time, the first hanger 33 is positioned so that the work can be easily suspended. The first robot 30 suspends the work taken out from the female die 60 on the first hanger 33 on the first table 27.

The first robot 30 repeats this process three times and suspends the three works on the first hanger 33. When the three hangers have been hung, the first robot 30 sends a command to the first stand 27 to rotate the first hangers 33 by 180 degrees. Based on this command, the lock piece 70 which has been engaged with the dog 83 of the first hanger 33 on the first stand 27 (see FIG. 8) and positioned the first hanger 33 until now is retracted. Dock rock cylinder 71
The limit switch reacts by the backward movement of.

By operating the limit switch, the first
A motor (not shown) that rotates the hanger 33 is activated,
Rotate the first hanger 33 180 degrees. Sensor 74 is dog 8
2 is detected and the rotation of the first hanger is stopped. afterwards,
The lock cylinder 71 moves forward to lock the dog 82.

The forward limit switch of the dock lock cylinder 71 is turned on, and a work attachment start signal is sent to the first robot 30. At this time, the first robot 30 holds the workpiece conveyed from the female die 60 of the shaving press machine 26 and stands by.

Similarly, the first robot 30 suspends the work on the remaining three places of the first hanger 33, and then sends a work suspension completion signal to the first placing table 27. The lock piece 70 engaged with the dog 82 of the first hanger on the first table 27 is retracted based on the work suspension completion signal from the first robot 30.

The backward limit switch of the dog lock cylinder 71 responds and sends a first hanger transfer signal to the first robot 30.

The first robot 30 moves the arm 51 to a position where it grasps the first hanger.

The first robot 30 confirms whether or not the second robot 32 outputs a signal indicating that the second robot 32 is in the interference area on the front surface of the hanger carry-in / out port 92 of the scrubber 31. If so, it is sent to the first robot 30. The interference area is an area where the first and second robots 30 and 32 move and overlap each other.

If the signal indicates that the robot is not in the interference area, the first robot 30 holds the first hanger and lifts it from the first stand 27.

The first robot 30 again confirms whether or not the signal indicating that the second robot 32 is in the interference area in front of the hanger carry-in / out port 92 is issued. If it is, the operation stop signal is
It is sent to the first robot 30. If it is a signal that it has not entered, the first robot 30 starts the operation after confirming whether the blast cleaner 31 has issued the first hanger loading request.

The first robot 30 approaches the blast cleaner 31 while sending a signal to the second robot 32 indicating that it is invading the interference area, and the first hanger 33 is attached to the boss 86 which has come out from the hanger loading / unloading port 92 in advance. Put. Then, the first robot 30
Send a signal for starting the sweeper to the sweeper 31.

The first robot 30 returns to a position outside the interference region on the front surface of the hanger carry-in / out port 92, and cuts off the signal notifying that it is entering the interference region.

The first robot 30 sends a command signal to the second robot 32 to transfer an empty hanger (not shown, hereinafter, this hanger is referred to as a “second hanger”) on the third mounting table 29 onto the first mounting table 27. .

The second robot 32 receiving this signal carries the empty second hanger from the third table 29 to the first table 27.

The second robot 32 sends an empty second hanger loading completion signal to the first robot 30.

A motor (not shown) for rotating the empty second hanger on the first table 27 is a transmission type photoelectric switch h mounted on the first table 27 indicating that the empty second hanger has been carried.
After confirming (see FIG. 1), start up and rotate the empty second hanger.

The motor stops rotating when the dog 83 on the side where the first robot 30 first suspends the work reacts with the sensor 74.

The dock lock cylinder 71 engages with the dog 83 of the second hanger to fix the second hanger.

The forward limit switch (not shown) is activated by the forward movement of the dock lock cylinder 71, and a work suspension start signal is sent to the first robot 30.

The first robot 30 is the shaving press machine 26 as before.
The more conveyed work is hung on the second hanger.

The second robot 32 moves an empty hanger (not shown; hereinafter, this hanger is referred to as “third hanger”) on the second stand 28 to the third stand 29 (the third hanger is the first case). It is originally empty, but from the next time the suspended work will be removed and it will be moved after it becomes empty.)

Plunger 88 is the first hanger after the cleaning process.
By the operation (see FIG. 9), the material is extruded from the inside of the polishing and cleaning machine 31 to the surface of the hanger carry-in / out port 92. Polishing machine 31 (See Fig. 1)
Sends a hanger carry-out signal to the second robot 32.

This signal causes the second robot 23 to assume the hanger carry-out posture.

The second robot 32 confirms whether or not there is a signal that the first robot 30 is in the interference area in front of the hanger carry-in / out entrance of the blast cleaner.

If it is a signal that it has not entered, the second robot 32
Sends a signal to the first robot 30 that it is entering the interference area.

Considering the case where the first robot 30 is mistakenly in the interference area, the second robot 32 again outputs a signal indicating that the first robot 30 is in the interference area in front of the insertion opening of the blast cleaner. Confirm whether or not.

If there is no signal that the first robot 30 has not entered, the second robot 32 carries out the first hanger with the six works suspended after the cleaning and cleaning, and is on the right side of the hanger carry-in / out port 92. The root of the first hanger (a hanger mounting reference hole) is brought close to above the air nozzle 93 (see FIG. 1), and the air nozzle 93 collects aluminum particles in the reference hole (not shown) of the first hanger root. To remove.

The second robot 32 cuts off the signal that the first robot 30 is entering the interference area, and places the first hanger on the second stand 28.

Transmission type photoelectric switch k mounted on the second table 28
Check the presence of the first hanger (see Fig. 1),
The motor (not shown) of the stand 28 is started. The motor is
The first hanger is rotated, and when the dog 83 on the side for taking out the work first responds to the sensor 74, the rotation is stopped.

As the lock cylinder 71 operates, the lock piece 70 moves to the dog 83
To fix.

The forward limit switch of the lock cylinder 71 detects the operation of the lock cylinder 71 and sends a work removal start signal to the second robot 32.

The second robot 32 removes the first work.

The transmission type photoelectric switch m (see FIG. 1) attached in front of the plastic box 95 (the box closest to the lower end in FIG. 1) for storing the work is the work of the work taken out by the second robot 32. Check whether the posture is vertical.

The second robot 32 puts the work in the box 95 according to the posture good signal.

The second robot when the third work is put in the box 95
32 sends a command to the second stand 28 to rotate the first hanger 180 degrees. The lock cylinder 71 that positions the first hanger on the second stand 28 retracts based on a command signal from the second robot 32.

As a result, the backward limit switch of the dock lock cylinder 71 responds. Then, the motor for rotating the first hanger on the second table 28 is activated to rotate the hanger 180 degrees.

The dog 82 attached to the first hanger activates the sensor 74 and stops the rotation of the hanger. The lock cylinder 71 moves forward to lock the dog 82.

As a result, the forward limit switch of the lock cylinder 71 is actuated, and a removal start signal for removing the remaining three workpieces is sent to the second robot 32 (at this time, the second
The robot 32 is on standby in the detached state. ).

Similarly, the second robot 32 takes out the remaining three works from the first hanger and puts them in the box 95.

The second robot 32 sends a command to the second stand 28 to rotate the first hanger 180 degrees. The lock cylinder 71 that positions the first hanger on the second stand 28 is the second robot.
It retracts based on the command signal from 32.

Then, a motor (not shown) for rotating the first hanger on the second mounting table 28 is activated to rotate the first hanger 180 degrees (when the first hanger is placed on the first mounting table, the work mounting position is immediately set. Intentionally rotate it another 180 degrees so that it comes.).

The dog 83 of the first hanger activates the sensor 74 and stops the rotation of the motor.

The lock cylinder 71 moves forward to lock the dog 83 and stop the first hanger at the correct position. After that, the lock cylinder 71 retracts.

The second robot 32 has another hanger (hereinafter,
This hanger is referred to as a "third hanger". ) Is confirmed by a transmission type photoelectric switch o (see FIG. 1).

If there is no third hanger, the second robot 32 moves the empty hanger from the second stand 28 to the third stand 29.

After that, each hanger is sequentially replaced with each stand and a scavenger, and the steps around the scavenger are repeated. During this time, burrs on the work and foreign matter adhering to the work etc.
Removed by.

"Packing process" When the box 95 is full of work, the second robot 32
Emits a box payout signal to retract the positioning cylinder (not shown) that has been pressing and positioning the box 95.

The box 95 filled with the work is pushed out toward the box discharge port by an extrusion cylinder (not shown).

The box is first placed on the inclined roller conveyor 99 by its own weight.
Move to the right edge of the figure.

When the first box is ejected, a second, empty box is sent to the position where the first box was. Transmissive photoelectric switch p
(See FIG. 1) confirms whether the empty box has been sent.

When the empty box is sent, the positioning cylinder is activated. A boxing start permission signal is sent to the second robot 32 by the limit switch (not shown) of the positioning cylinder.

After that, the second robot 32 continues the box packing.

EFFECTS OF THE INVENTION According to the workpiece polishing / transferring system of the present invention, one of the two robots receives the workpiece before the polishing carried from the previous process and transfers it to the polishing machine, and the other. Robots transfer the work after blasting from the blasting machine to the next process, so that there is no play in each machine that processes the work, the flow of the work is smooth, This has the effect of significantly improving the production efficiency of.

[Brief description of drawings]

FIG. 1 is a layout diagram of a work production line having a cleaning and transfer system of the present invention, FIG. 2 is a view taken along the line 2-2 in FIG. 1, which is a front view of a hot press machine, and FIG. Fig. 4 is a right side view of Fig. 2, Fig. 4 is a right side view of Fig. 2, Fig. 5 is a perspective view of a robot, Fig. 6 is a front view of a shaving press machine, and Fig. 7 is a right side view of Fig. 6. FIG. 8 is a perspective view of a state where the hanger is placed on the stand, FIG. 9 is a front view of the blast cleaner, and FIG. 10 is a left side view of FIG. W …… Work, 20 …… Cleaning and sweeping transfer system 27 …… First stand, 28 …… Second stand 29 …… Third stand, 30 …… First robot 31 …… Brusher, 32 …… Second 2 robots 33 …… Hangers

Claims (1)

[Claims] 1. A hanger for suspending a work, first, second, and third mounting bases on which the respective hangers are placed, and a work sent from a work forming step for the first work.
After being hung on an empty hanger on the table, the first hanger transfers the hanger to a work burr and removes foreign matter adhering to the surface of the work, and the hanger in the hanger to the second table. After the transfer, the work hung on the hanger is removed, and the work is sent to the next step, the empty hanger is transferred to the first mounting base via the third mounting base, and a second robot is provided. A work removal and transfer system.